177 lines
7 KiB
C++
177 lines
7 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 BT_CONTACT_SOLVER_INFO
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#define BT_CONTACT_SOLVER_INFO
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#include "LinearMath/btScalar.h"
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enum btSolverMode
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{
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SOLVER_RANDMIZE_ORDER = 1,
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SOLVER_FRICTION_SEPARATE = 2,
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SOLVER_USE_WARMSTARTING = 4,
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SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
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SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
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SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
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SOLVER_CACHE_FRIENDLY = 128,
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SOLVER_SIMD = 256,
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SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
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SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
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SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
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SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
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};
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struct btContactSolverInfoData
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{
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btScalar m_tau;
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btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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btScalar m_friction;
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btScalar m_timeStep;
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btScalar m_restitution;
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int m_numIterations;
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btScalar m_maxErrorReduction;
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btScalar m_sor; //successive over-relaxation term
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btScalar m_erp; //error reduction for non-contact constraints
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btScalar m_erp2; //error reduction for contact constraints
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btScalar m_deformable_erp; //error reduction for deformable constraints
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btScalar m_deformable_cfm; //constraint force mixing for deformable constraints
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btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact
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btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
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btScalar m_frictionERP; //error reduction for friction constraints
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btScalar m_frictionCFM; //constraint force mixing for friction constraints
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int m_splitImpulse;
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btScalar m_splitImpulsePenetrationThreshold;
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btScalar m_splitImpulseTurnErp;
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btScalar m_linearSlop;
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btScalar m_warmstartingFactor;
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btScalar m_articulatedWarmstartingFactor;
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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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btScalar m_maxGyroscopicForce;
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btScalar m_singleAxisRollingFrictionThreshold;
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btScalar m_leastSquaresResidualThreshold;
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btScalar m_restitutionVelocityThreshold;
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bool m_jointFeedbackInWorldSpace;
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bool m_jointFeedbackInJointFrame;
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int m_reportSolverAnalytics;
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int m_numNonContactInnerIterations;
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};
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struct btContactSolverInfo : public btContactSolverInfoData
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{
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inline btContactSolverInfo()
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{
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m_tau = btScalar(0.6);
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m_damping = btScalar(1.0);
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m_friction = btScalar(0.3);
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m_timeStep = btScalar(1.f / 60.f);
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m_restitution = btScalar(0.);
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m_maxErrorReduction = btScalar(20.);
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m_numIterations = 10;
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m_erp = btScalar(0.2);
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m_erp2 = btScalar(0.2);
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m_deformable_erp = btScalar(0.06);
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m_deformable_cfm = btScalar(0.01);
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m_deformable_maxErrorReduction = btScalar(0.1);
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m_globalCfm = btScalar(0.);
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m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
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m_frictionCFM = btScalar(0.);
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m_sor = btScalar(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 = btScalar(0.0);
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m_warmstartingFactor = btScalar(0.85);
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m_articulatedWarmstartingFactor = btScalar(0.85);
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//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;
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m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | 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; ///it is only used for 'explicit' version of gyroscopic force
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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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m_leastSquaresResidualThreshold = 0.f;
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m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
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m_jointFeedbackInWorldSpace = false;
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m_jointFeedbackInJointFrame = false;
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m_reportSolverAnalytics = 0;
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m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
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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 btContactSolverInfoDoubleData
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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_articulatedWarmstartingFactor;
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double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force
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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 btContactSolverInfoFloatData
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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_articulatedWarmstartingFactor;
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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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};
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#endif //BT_CONTACT_SOLVER_INFO
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