149 lines
5.5 KiB
C++
149 lines
5.5 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_CONTACT_SOLVER_INFO
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#define B3_CONTACT_SOLVER_INFO
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#include "Bullet3Common/b3Scalar.h"
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enum b3SolverMode
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{
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B3_SOLVER_RANDMIZE_ORDER = 1,
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B3_SOLVER_FRICTION_SEPARATE = 2,
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B3_SOLVER_USE_WARMSTARTING = 4,
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B3_SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
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B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
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B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
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B3_SOLVER_CACHE_FRIENDLY = 128,
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B3_SOLVER_SIMD = 256,
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B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
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B3_SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
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};
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struct b3ContactSolverInfoData
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{
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b3Scalar m_tau;
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b3Scalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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b3Scalar m_friction;
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b3Scalar m_timeStep;
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b3Scalar m_restitution;
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int m_numIterations;
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b3Scalar m_maxErrorReduction;
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b3Scalar m_sor;
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b3Scalar m_erp; //used as Baumgarte factor
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b3Scalar m_erp2; //used in Split Impulse
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b3Scalar m_globalCfm; //constraint force mixing
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int m_splitImpulse;
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b3Scalar m_splitImpulsePenetrationThreshold;
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b3Scalar m_splitImpulseTurnErp;
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b3Scalar m_linearSlop;
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b3Scalar m_warmstartingFactor;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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b3Scalar m_maxGyroscopicForce;
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b3Scalar m_singleAxisRollingFrictionThreshold;
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};
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struct b3ContactSolverInfo : public b3ContactSolverInfoData
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{
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inline b3ContactSolverInfo()
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{
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m_tau = b3Scalar(0.6);
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m_damping = b3Scalar(1.0);
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m_friction = b3Scalar(0.3);
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m_timeStep = b3Scalar(1.f / 60.f);
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m_restitution = b3Scalar(0.);
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m_maxErrorReduction = b3Scalar(20.);
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m_numIterations = 10;
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m_erp = b3Scalar(0.2);
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m_erp2 = b3Scalar(0.8);
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m_globalCfm = b3Scalar(0.);
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m_sor = b3Scalar(1.);
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m_splitImpulse = true;
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m_splitImpulsePenetrationThreshold = -.04f;
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m_splitImpulseTurnErp = 0.1f;
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m_linearSlop = b3Scalar(0.0);
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m_warmstartingFactor = b3Scalar(0.85);
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//m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD | B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|B3_SOLVER_USE_2_FRICTION_DIRECTIONS|B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | B3_SOLVER_RANDMIZE_ORDER;
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m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD; // | B3_SOLVER_RANDMIZE_ORDER;
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m_restingContactRestitutionThreshold = 2; //unused as of 2.81
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m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
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m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag)
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m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
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}
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct b3ContactSolverInfoDoubleData
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{
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double m_tau;
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double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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double m_friction;
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double m_timeStep;
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double m_restitution;
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double m_maxErrorReduction;
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double m_sor;
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double m_erp; //used as Baumgarte factor
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double m_erp2; //used in Split Impulse
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double m_globalCfm; //constraint force mixing
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double m_splitImpulsePenetrationThreshold;
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double m_splitImpulseTurnErp;
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double m_linearSlop;
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double m_warmstartingFactor;
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double m_maxGyroscopicForce;
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double m_singleAxisRollingFrictionThreshold;
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int m_numIterations;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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int m_splitImpulse;
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char m_padding[4];
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct b3ContactSolverInfoFloatData
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{
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float m_tau;
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float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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float m_friction;
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float m_timeStep;
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float m_restitution;
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float m_maxErrorReduction;
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float m_sor;
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float m_erp; //used as Baumgarte factor
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float m_erp2; //used in Split Impulse
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float m_globalCfm; //constraint force mixing
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float m_splitImpulsePenetrationThreshold;
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float m_splitImpulseTurnErp;
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float m_linearSlop;
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float m_warmstartingFactor;
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float m_maxGyroscopicForce;
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float m_singleAxisRollingFrictionThreshold;
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int m_numIterations;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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int m_splitImpulse;
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char m_padding[4];
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};
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#endif //B3_CONTACT_SOLVER_INFO
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