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  SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
34 };
35 
36 struct btContactSolverInfoData
37 {
38 
39 
40  btScalar m_tau;
41  btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
42  btScalar m_friction;
43  btScalar m_timeStep;
44  btScalar m_restitution;
45  int m_numIterations;
46  btScalar m_maxErrorReduction;
47  btScalar m_sor;//successive over-relaxation term
48  btScalar m_erp;//error reduction for non-contact constraints
49  btScalar m_erp2;//error reduction for contact constraints
50  btScalar m_globalCfm;//constraint force mixing for contacts and non-contacts
51  btScalar m_frictionERP;//error reduction for friction constraints
52  btScalar m_frictionCFM;//constraint force mixing for friction constraints
53 
54  int m_splitImpulse;
55  btScalar m_splitImpulsePenetrationThreshold;
56  btScalar m_splitImpulseTurnErp;
57  btScalar m_linearSlop;
58  btScalar m_warmstartingFactor;
59 
60  int m_solverMode;
61  int m_restingContactRestitutionThreshold;
62  int m_minimumSolverBatchSize;
63  btScalar m_maxGyroscopicForce;
64  btScalar m_singleAxisRollingFrictionThreshold;
65  btScalar m_leastSquaresResidualThreshold;
66  btScalar m_restitutionVelocityThreshold;
67 
68 };
69 
70 struct btContactSolverInfo : public btContactSolverInfoData
71 {
72 
73 
74 
75  inline btContactSolverInfo()
76  {
77  m_tau = btScalar(0.6);
78  m_damping = btScalar(1.0);
79  m_friction = btScalar(0.3);
80  m_timeStep = btScalar(1.f/60.f);
81  m_restitution = btScalar(0.);
82  m_maxErrorReduction = btScalar(20.);
83  m_numIterations = 10;
84  m_erp = btScalar(0.2);
85  m_erp2 = btScalar(0.2);
86  m_globalCfm = btScalar(0.);
87  m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default
88  m_frictionCFM = btScalar(0.);
89  m_sor = btScalar(1.);
90  m_splitImpulse = true;
91  m_splitImpulsePenetrationThreshold = -.04f;
92  m_splitImpulseTurnErp = 0.1f;
93  m_linearSlop = btScalar(0.0);
94  m_warmstartingFactor=btScalar(0.85);
95  //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;
96  m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
97  m_restingContactRestitutionThreshold = 2;//unused as of 2.81
98  m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
99  m_maxGyroscopicForce = 100.f;
100  m_singleAxisRollingFrictionThreshold = 1e30f;
101  m_leastSquaresResidualThreshold = 0.f;
102  m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
103  }
104 };
105 
107 struct btContactSolverInfoDoubleData
108 {
109  double m_tau;
110  double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
111  double m_friction;
112  double m_timeStep;
113  double m_restitution;
114  double m_maxErrorReduction;
115  double m_sor;
116  double m_erp;//used as Baumgarte factor
117  double m_erp2;//used in Split Impulse
118  double m_globalCfm;//constraint force mixing
119  double m_splitImpulsePenetrationThreshold;
120  double m_splitImpulseTurnErp;
121  double m_linearSlop;
122  double m_warmstartingFactor;
123  double m_maxGyroscopicForce;
124  double m_singleAxisRollingFrictionThreshold;
125 
126  int m_numIterations;
127  int m_solverMode;
128  int m_restingContactRestitutionThreshold;
129  int m_minimumSolverBatchSize;
130  int m_splitImpulse;
131  char m_padding[4];
132 
133 };
135 struct btContactSolverInfoFloatData
136 {
137  float m_tau;
138  float m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
139  float m_friction;
140  float m_timeStep;
141 
142  float m_restitution;
143  float m_maxErrorReduction;
144  float m_sor;
145  float m_erp;//used as Baumgarte factor
146 
147  float m_erp2;//used in Split Impulse
148  float m_globalCfm;//constraint force mixing
149  float m_splitImpulsePenetrationThreshold;
150  float m_splitImpulseTurnErp;
151 
152  float m_linearSlop;
153  float m_warmstartingFactor;
154  float m_maxGyroscopicForce;
155  float m_singleAxisRollingFrictionThreshold;
156 
157  int m_numIterations;
158  int m_solverMode;
159  int m_restingContactRestitutionThreshold;
160  int m_minimumSolverBatchSize;
161 
162  int m_splitImpulse;
163  char m_padding[4];
164 };
165 
166 
167 
168 #endif //BT_CONTACT_SOLVER_INFO
btSolverMode
btSolverMode
Definition: btContactSolverInfo.h:21
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:64
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:135
btContactSolverInfoDoubleData::m_singleAxisRollingFrictionThreshold
double m_singleAxisRollingFrictionThreshold
it is only used for 'explicit' version of gyroscopic force
Definition: btContactSolverInfo.h:124
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:107
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