Bullet Collision Detection & Physics Library
btContactSolverInfo.h
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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;
93  m_singleAxisRollingFrictionThreshold = 1e30f;
94  }
95 };
96 
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 };
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
btSolverMode
btSolverMode
Definition: btContactSolverInfo.h:21
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:60
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:126
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:266
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:98
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