dali-physics/third-party/bullet3/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.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 BT_CONTACT_SOLVER_INFO
  17 #define BT_CONTACT_SOLVER_INFO
  18
  19 #include "LinearMath/btScalar.h"
  20
  21 enum btSolverMode
  22 {
  23         SOLVER_RANDMIZE_ORDER = 1,
  24         SOLVER_FRICTION_SEPARATE = 2,
  25         SOLVER_USE_WARMSTARTING = 4,
  26         SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
  27         SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
  28         SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
  29         SOLVER_CACHE_FRIENDLY = 128,
  30         SOLVER_SIMD = 256,
  31         SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
  32         SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
  33         SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
  34         SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
  35 };
  36
  37 struct btContactSolverInfoData
  38 {
  39         btScalar m_tau;
  40         btScalar m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
  41         btScalar m_friction;
  42         btScalar m_timeStep;
  43         btScalar m_restitution;
  44         int m_numIterations;
  45         btScalar m_maxErrorReduction;
  46         btScalar m_sor;          //successive over-relaxation term
  47         btScalar m_erp;          //error reduction for non-contact constraints
  48         btScalar m_erp2;         //error reduction for contact constraints
  49         btScalar m_deformable_erp;          //error reduction for deformable constraints
  50         btScalar m_deformable_cfm;          //constraint force mixing for deformable constraints
  51         btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact
  52         btScalar m_globalCfm;    //constraint force mixing for contacts and non-contacts
  53         btScalar m_frictionERP;  //error reduction for friction constraints
  54         btScalar m_frictionCFM;  //constraint force mixing for friction constraints
  55
  56         int m_splitImpulse;
  57         btScalar m_splitImpulsePenetrationThreshold;
  58         btScalar m_splitImpulseTurnErp;
  59         btScalar m_linearSlop;
  60         btScalar m_warmstartingFactor;
  61         btScalar m_articulatedWarmstartingFactor;
  62         int m_solverMode;
  63         int m_restingContactRestitutionThreshold;
  64         int m_minimumSolverBatchSize;
  65         btScalar m_maxGyroscopicForce;
  66         btScalar m_singleAxisRollingFrictionThreshold;
  67         btScalar m_leastSquaresResidualThreshold;
  68         btScalar m_restitutionVelocityThreshold;
  69         bool m_jointFeedbackInWorldSpace;
  70         bool m_jointFeedbackInJointFrame;
  71         int m_reportSolverAnalytics;
  72         int m_numNonContactInnerIterations;
  73 };
  74
  75 struct btContactSolverInfo : public btContactSolverInfoData
  76 {
  77         inline btContactSolverInfo()
  78         {
  79                 m_tau = btScalar(0.6);
  80                 m_damping = btScalar(1.0);
  81                 m_friction = btScalar(0.3);
  82                 m_timeStep = btScalar(1.f / 60.f);
  83                 m_restitution = btScalar(0.);
  84                 m_maxErrorReduction = btScalar(20.);
  85                 m_numIterations = 10;
  86                 m_erp = btScalar(0.2);
  87                 m_erp2 = btScalar(0.2);
  88                 m_deformable_erp = btScalar(0.06);
  89                 m_deformable_cfm = btScalar(0.01);
  90                 m_deformable_maxErrorReduction = btScalar(0.1);
  91                 m_globalCfm = btScalar(0.);
  92                 m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
  93                 m_frictionCFM = btScalar(0.);
  94                 m_sor = btScalar(1.);
  95                 m_splitImpulse = true;
  96                 m_splitImpulsePenetrationThreshold = -.04f;
  97                 m_splitImpulseTurnErp = 0.1f;
  98                 m_linearSlop = btScalar(0.0);
  99                 m_warmstartingFactor = btScalar(0.85);
 100                 m_articulatedWarmstartingFactor = btScalar(0.85);
 101                 //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;
 102                 m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;  // | SOLVER_RANDMIZE_ORDER;
 103                 m_restingContactRestitutionThreshold = 2;              //unused as of 2.81
 104                 m_minimumSolverBatchSize = 128;                        //try to combine islands until the amount of constraints reaches this limit
 105                 m_maxGyroscopicForce = 100.f;                          ///it is only used for 'explicit' version of gyroscopic force
 106                 m_singleAxisRollingFrictionThreshold = 1e30f;          ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
 107                 m_leastSquaresResidualThreshold = 0.f;
 108                 m_restitutionVelocityThreshold = 0.2f;  //if the relative velocity is below this threshold, there is zero restitution
 109                 m_jointFeedbackInWorldSpace = false;
 110                 m_jointFeedbackInJointFrame = false;
 111                 m_reportSolverAnalytics = 0;
 112                 m_numNonContactInnerIterations = 1;   // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
 113         }
 114 };
 115
 116 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 117 struct btContactSolverInfoDoubleData
 118 {
 119         double m_tau;
 120         double m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
 121         double m_friction;
 122         double m_timeStep;
 123         double m_restitution;
 124         double m_maxErrorReduction;
 125         double m_sor;
 126         double m_erp;        //used as Baumgarte factor
 127         double m_erp2;       //used in Split Impulse
 128         double m_globalCfm;  //constraint force mixing
 129         double m_splitImpulsePenetrationThreshold;
 130         double m_splitImpulseTurnErp;
 131         double m_linearSlop;
 132         double m_warmstartingFactor;
 133         double m_articulatedWarmstartingFactor;
 134         double m_maxGyroscopicForce;  ///it is only used for 'explicit' version of gyroscopic force
 135         double m_singleAxisRollingFrictionThreshold;
 136
 137         int m_numIterations;
 138         int m_solverMode;
 139         int m_restingContactRestitutionThreshold;
 140         int m_minimumSolverBatchSize;
 141         int m_splitImpulse;
 142         char m_padding[4];
 143 };
 144 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 145 struct btContactSolverInfoFloatData
 146 {
 147         float m_tau;
 148         float m_damping;  //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
 149         float m_friction;
 150         float m_timeStep;
 151
 152         float m_restitution;
 153         float m_maxErrorReduction;
 154         float m_sor;
 155         float m_erp;  //used as Baumgarte factor
 156
 157         float m_erp2;       //used in Split Impulse
 158         float m_globalCfm;  //constraint force mixing
 159         float m_splitImpulsePenetrationThreshold;
 160         float m_splitImpulseTurnErp;
 161
 162         float m_linearSlop;
 163         float m_warmstartingFactor;
 164         float m_articulatedWarmstartingFactor;
 165         float m_maxGyroscopicForce;
 166
 167         float m_singleAxisRollingFrictionThreshold;
 168         int m_numIterations;
 169         int m_solverMode;
 170         int m_restingContactRestitutionThreshold;
 171
 172         int m_minimumSolverBatchSize;
 173         int m_splitImpulse;
 174
 175 };
 176
 177 #endif  //BT_CONTACT_SOLVER_INFO