dali-physics/third-party/bullet3/src/Bullet3Dynamics/ConstraintSolver/b3ContactSolverInfo.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  https://bulletphysics.org
   4
   5 This software is provided 'as-is', without any express or implied warranty.
   6 In no event will the authors be held liable for any damages arising from the use of this software.
   7 Permission is granted to anyone to use this software for any purpose,
   8 including commercial applications, and to alter it and redistribute it freely,
   9 subject to the following restrictions:
  10
  11 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.
  12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
  13 3. This notice may not be removed or altered from any source distribution.
  14 */
  15
  16 #ifndef B3_CONTACT_SOLVER_INFO
  17 #define B3_CONTACT_SOLVER_INFO
  18
  19 #include "Bullet3Common/b3Scalar.h"
  20
  21 enum b3SolverMode
  22 {
  23         B3_SOLVER_RANDMIZE_ORDER = 1,
  24         B3_SOLVER_FRICTION_SEPARATE = 2,
  25         B3_SOLVER_USE_WARMSTARTING = 4,
  26         B3_SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
  27         B3_SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
  28         B3_SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
  29         B3_SOLVER_CACHE_FRIENDLY = 128,
  30         B3_SOLVER_SIMD = 256,
  31         B3_SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
  32         B3_SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
  33 };
  34
  35 struct b3ContactSolverInfoData
  36 {
  37         b3Scalar m_tau;
  38         b3Scalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
  39         b3Scalar m_friction;
  40         b3Scalar m_timeStep;
  41         b3Scalar m_restitution;
  42         int m_numIterations;
  43         b3Scalar m_maxErrorReduction;
  44         b3Scalar m_sor;
  45         b3Scalar m_erp;        //used as Baumgarte factor
  46         b3Scalar m_erp2;       //used in Split Impulse
  47         b3Scalar m_globalCfm;  //constraint force mixing
  48         int m_splitImpulse;
  49         b3Scalar m_splitImpulsePenetrationThreshold;
  50         b3Scalar m_splitImpulseTurnErp;
  51         b3Scalar m_linearSlop;
  52         b3Scalar m_warmstartingFactor;
  53
  54         int m_solverMode;
  55         int m_restingContactRestitutionThreshold;
  56         int m_minimumSolverBatchSize;
  57         b3Scalar m_maxGyroscopicForce;
  58         b3Scalar m_singleAxisRollingFrictionThreshold;
  59 };
  60
  61 struct b3ContactSolverInfo : public b3ContactSolverInfoData
  62 {
  63         inline b3ContactSolverInfo()
  64         {
  65                 m_tau = b3Scalar(0.6);
  66                 m_damping = b3Scalar(1.0);
  67                 m_friction = b3Scalar(0.3);
  68                 m_timeStep = b3Scalar(1.f / 60.f);
  69                 m_restitution = b3Scalar(0.);
  70                 m_maxErrorReduction = b3Scalar(20.);
  71                 m_numIterations = 10;
  72                 m_erp = b3Scalar(0.2);
  73                 m_erp2 = b3Scalar(0.8);
  74                 m_globalCfm = b3Scalar(0.);
  75                 m_sor = b3Scalar(1.);
  76                 m_splitImpulse = true;
  77                 m_splitImpulsePenetrationThreshold = -.04f;
  78                 m_splitImpulseTurnErp = 0.1f;
  79                 m_linearSlop = b3Scalar(0.0);
  80                 m_warmstartingFactor = b3Scalar(0.85);
  81                 //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;
  82                 m_solverMode = B3_SOLVER_USE_WARMSTARTING | B3_SOLVER_SIMD;  // | B3_SOLVER_RANDMIZE_ORDER;
  83                 m_restingContactRestitutionThreshold = 2;                    //unused as of 2.81
  84                 m_minimumSolverBatchSize = 128;                              //try to combine islands until the amount of constraints reaches this limit
  85                 m_maxGyroscopicForce = 100.f;                                ///only used to clamp forces for bodies that have their B3_ENABLE_GYROPSCOPIC_FORCE flag set (using b3RigidBody::setFlag)
  86                 m_singleAxisRollingFrictionThreshold = 1e30f;                ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
  87         }
  88 };
  89
  90 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
  91 struct b3ContactSolverInfoDoubleData
  92 {
  93         double m_tau;
  94         double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
  95         double m_friction;
  96         double m_timeStep;
  97         double m_restitution;
  98         double m_maxErrorReduction;
  99         double m_sor;
 100         double m_erp;        //used as Baumgarte factor
 101         double m_erp2;       //used in Split Impulse
 102         double m_globalCfm;  //constraint force mixing
 103         double m_splitImpulsePenetrationThreshold;
 104         double m_splitImpulseTurnErp;
 105         double m_linearSlop;
 106         double m_warmstartingFactor;
 107         double m_maxGyroscopicForce;
 108         double m_singleAxisRollingFrictionThreshold;
 109
 110         int m_numIterations;
 111         int m_solverMode;
 112         int m_restingContactRestitutionThreshold;
 113         int m_minimumSolverBatchSize;
 114         int m_splitImpulse;
 115         char m_padding[4];
 116 };
 117 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 118 struct b3ContactSolverInfoFloatData
 119 {
 120         float m_tau;
 121         float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
 122         float m_friction;
 123         float m_timeStep;
 124
 125         float m_restitution;
 126         float m_maxErrorReduction;
 127         float m_sor;
 128         float m_erp;  //used as Baumgarte factor
 129
 130         float m_erp2;       //used in Split Impulse
 131         float m_globalCfm;  //constraint force mixing
 132         float m_splitImpulsePenetrationThreshold;
 133         float m_splitImpulseTurnErp;
 134
 135         float m_linearSlop;
 136         float m_warmstartingFactor;
 137         float m_maxGyroscopicForce;
 138         float m_singleAxisRollingFrictionThreshold;
 139
 140         int m_numIterations;
 141         int m_solverMode;
 142         int m_restingContactRestitutionThreshold;
 143         int m_minimumSolverBatchSize;
 144
 145         int m_splitImpulse;
 146         char m_padding[4];
 147 };
 148
 149 #endif  //B3_CONTACT_SOLVER_INFO