177 lines
7 KiB
C++
177 lines
7 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_CONTACT_SOLVER_INFO
|
|
#define BT_CONTACT_SOLVER_INFO
|
|
|
|
#include "LinearMath/btScalar.h"
|
|
|
|
enum btSolverMode
|
|
{
|
|
SOLVER_RANDMIZE_ORDER = 1,
|
|
SOLVER_FRICTION_SEPARATE = 2,
|
|
SOLVER_USE_WARMSTARTING = 4,
|
|
SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
|
|
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
|
|
SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
|
|
SOLVER_CACHE_FRIENDLY = 128,
|
|
SOLVER_SIMD = 256,
|
|
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
|
|
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
|
|
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
|
|
SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
|
|
};
|
|
|
|
struct btContactSolverInfoData
|
|
{
|
|
btScalar m_tau;
|
|
btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
|
|
btScalar m_friction;
|
|
btScalar m_timeStep;
|
|
btScalar m_restitution;
|
|
int m_numIterations;
|
|
btScalar m_maxErrorReduction;
|
|
btScalar m_sor; //successive over-relaxation term
|
|
btScalar m_erp; //error reduction for non-contact constraints
|
|
btScalar m_erp2; //error reduction for contact constraints
|
|
btScalar m_deformable_erp; //error reduction for deformable constraints
|
|
btScalar m_deformable_cfm; //constraint force mixing for deformable constraints
|
|
btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact
|
|
btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
|
|
btScalar m_frictionERP; //error reduction for friction constraints
|
|
btScalar m_frictionCFM; //constraint force mixing for friction constraints
|
|
|
|
int m_splitImpulse;
|
|
btScalar m_splitImpulsePenetrationThreshold;
|
|
btScalar m_splitImpulseTurnErp;
|
|
btScalar m_linearSlop;
|
|
btScalar m_warmstartingFactor;
|
|
btScalar m_articulatedWarmstartingFactor;
|
|
int m_solverMode;
|
|
int m_restingContactRestitutionThreshold;
|
|
int m_minimumSolverBatchSize;
|
|
btScalar m_maxGyroscopicForce;
|
|
btScalar m_singleAxisRollingFrictionThreshold;
|
|
btScalar m_leastSquaresResidualThreshold;
|
|
btScalar m_restitutionVelocityThreshold;
|
|
bool m_jointFeedbackInWorldSpace;
|
|
bool m_jointFeedbackInJointFrame;
|
|
int m_reportSolverAnalytics;
|
|
int m_numNonContactInnerIterations;
|
|
};
|
|
|
|
struct btContactSolverInfo : public btContactSolverInfoData
|
|
{
|
|
inline btContactSolverInfo()
|
|
{
|
|
m_tau = btScalar(0.6);
|
|
m_damping = btScalar(1.0);
|
|
m_friction = btScalar(0.3);
|
|
m_timeStep = btScalar(1.f / 60.f);
|
|
m_restitution = btScalar(0.);
|
|
m_maxErrorReduction = btScalar(20.);
|
|
m_numIterations = 10;
|
|
m_erp = btScalar(0.2);
|
|
m_erp2 = btScalar(0.2);
|
|
m_deformable_erp = btScalar(0.06);
|
|
m_deformable_cfm = btScalar(0.01);
|
|
m_deformable_maxErrorReduction = btScalar(0.1);
|
|
m_globalCfm = btScalar(0.);
|
|
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
|
|
m_frictionCFM = btScalar(0.);
|
|
m_sor = btScalar(1.);
|
|
m_splitImpulse = true;
|
|
m_splitImpulsePenetrationThreshold = -.04f;
|
|
m_splitImpulseTurnErp = 0.1f;
|
|
m_linearSlop = btScalar(0.0);
|
|
m_warmstartingFactor = btScalar(0.85);
|
|
m_articulatedWarmstartingFactor = btScalar(0.85);
|
|
//m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER;
|
|
m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
|
|
m_restingContactRestitutionThreshold = 2; //unused as of 2.81
|
|
m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
|
|
m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
|
|
m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
|
|
m_leastSquaresResidualThreshold = 0.f;
|
|
m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
|
|
m_jointFeedbackInWorldSpace = false;
|
|
m_jointFeedbackInJointFrame = false;
|
|
m_reportSolverAnalytics = 0;
|
|
m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
|
|
}
|
|
};
|
|
|
|
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
|
struct btContactSolverInfoDoubleData
|
|
{
|
|
double m_tau;
|
|
double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
|
|
double m_friction;
|
|
double m_timeStep;
|
|
double m_restitution;
|
|
double m_maxErrorReduction;
|
|
double m_sor;
|
|
double m_erp; //used as Baumgarte factor
|
|
double m_erp2; //used in Split Impulse
|
|
double m_globalCfm; //constraint force mixing
|
|
double m_splitImpulsePenetrationThreshold;
|
|
double m_splitImpulseTurnErp;
|
|
double m_linearSlop;
|
|
double m_warmstartingFactor;
|
|
double m_articulatedWarmstartingFactor;
|
|
double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force
|
|
double m_singleAxisRollingFrictionThreshold;
|
|
|
|
int m_numIterations;
|
|
int m_solverMode;
|
|
int m_restingContactRestitutionThreshold;
|
|
int m_minimumSolverBatchSize;
|
|
int m_splitImpulse;
|
|
char m_padding[4];
|
|
};
|
|
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
|
|
struct btContactSolverInfoFloatData
|
|
{
|
|
float m_tau;
|
|
float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
|
|
float m_friction;
|
|
float m_timeStep;
|
|
|
|
float m_restitution;
|
|
float m_maxErrorReduction;
|
|
float m_sor;
|
|
float m_erp; //used as Baumgarte factor
|
|
|
|
float m_erp2; //used in Split Impulse
|
|
float m_globalCfm; //constraint force mixing
|
|
float m_splitImpulsePenetrationThreshold;
|
|
float m_splitImpulseTurnErp;
|
|
|
|
float m_linearSlop;
|
|
float m_warmstartingFactor;
|
|
float m_articulatedWarmstartingFactor;
|
|
float m_maxGyroscopicForce;
|
|
|
|
float m_singleAxisRollingFrictionThreshold;
|
|
int m_numIterations;
|
|
int m_solverMode;
|
|
int m_restingContactRestitutionThreshold;
|
|
|
|
int m_minimumSolverBatchSize;
|
|
int m_splitImpulse;
|
|
|
|
};
|
|
|
|
#endif //BT_CONTACT_SOLVER_INFO
|