src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

   1 /*
   2 Bullet Continuous Collision Detection and Physics Library
   3 Copyright (c) 2003-2006 Erwin Coumans  http://continuousphysics.com/Bullet/
   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 };
  34
  35 struct btContactSolverInfoData
  36 {
  37
  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;
  47         btScalar        m_erp;//used as Baumgarte factor
  48         btScalar        m_erp2;//used in Split Impulse
  49         btScalar        m_globalCfm;//constraint force mixing
  50         int                     m_splitImpulse;
  51         btScalar        m_splitImpulsePenetrationThreshold;
  52         btScalar        m_splitImpulseTurnErp;
  53         btScalar        m_linearSlop;
  54         btScalar        m_warmstartingFactor;
  55
  56         int                     m_solverMode;
  57         int     m_restingContactRestitutionThreshold;
  58         int                     m_minimumSolverBatchSize;
  59         btScalar        m_maxGyroscopicForce;
  60         btScalar        m_singleAxisRollingFrictionThreshold;
  61
  62
  63 };
  64
  65 struct btContactSolverInfo : public btContactSolverInfoData
  66 {
  67
  68
  69
  70         inline btContactSolverInfo()
  71         {
  72                 m_tau = btScalar(0.6);
  73                 m_damping = btScalar(1.0);
  74                 m_friction = btScalar(0.3);
  75                 m_timeStep = btScalar(1.f/60.f);
  76                 m_restitution = btScalar(0.);
  77                 m_maxErrorReduction = btScalar(20.);
  78                 m_numIterations = 10;
  79                 m_erp = btScalar(0.2);
  80                 m_erp2 = btScalar(0.8);
  81                 m_globalCfm = btScalar(0.);
  82                 m_sor = btScalar(1.);
  83                 m_splitImpulse = true;
  84                 m_splitImpulsePenetrationThreshold = -.04f;
  85                 m_splitImpulseTurnErp = 0.1f;
  86                 m_linearSlop = btScalar(0.0);
  87                 m_warmstartingFactor=btScalar(0.85);
  88                 //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;
  89                 m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
  90                 m_restingContactRestitutionThreshold = 2;//unused as of 2.81
  91                 m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
  92                 m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag)
  93                 m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
  94         }
  95 };
  96
  97 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
  98 struct btContactSolverInfoDoubleData
  99 {
 100         double          m_tau;
 101         double          m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
 102         double          m_friction;
 103         double          m_timeStep;
 104         double          m_restitution;
 105         double          m_maxErrorReduction;
 106         double          m_sor;
 107         double          m_erp;//used as Baumgarte factor
 108         double          m_erp2;//used in Split Impulse
 109         double          m_globalCfm;//constraint force mixing
 110         double          m_splitImpulsePenetrationThreshold;
 111         double          m_splitImpulseTurnErp;
 112         double          m_linearSlop;
 113         double          m_warmstartingFactor;
 114         double          m_maxGyroscopicForce;
 115         double          m_singleAxisRollingFrictionThreshold;
 116
 117         int                     m_numIterations;
 118         int                     m_solverMode;
 119         int                     m_restingContactRestitutionThreshold;
 120         int                     m_minimumSolverBatchSize;
 121         int                     m_splitImpulse;
 122         char            m_padding[4];
 123
 124 };
 125 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
 126 struct btContactSolverInfoFloatData
 127 {
 128         float           m_tau;
 129         float           m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
 130         float           m_friction;
 131         float           m_timeStep;
 132
 133         float           m_restitution;
 134         float           m_maxErrorReduction;
 135         float           m_sor;
 136         float           m_erp;//used as Baumgarte factor
 137
 138         float           m_erp2;//used in Split Impulse
 139         float           m_globalCfm;//constraint force mixing
 140         float           m_splitImpulsePenetrationThreshold;
 141         float           m_splitImpulseTurnErp;
 142
 143         float           m_linearSlop;
 144         float           m_warmstartingFactor;
 145         float           m_maxGyroscopicForce;
 146         float           m_singleAxisRollingFrictionThreshold;
 147
 148         int                     m_numIterations;
 149         int                     m_solverMode;
 150         int                     m_restingContactRestitutionThreshold;
 151         int                     m_minimumSolverBatchSize;
 152
 153         int                     m_splitImpulse;
 154         char            m_padding[4];
 155 };
 156
 157
 158
 159 #endif //BT_CONTACT_SOLVER_INFO