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 { b3ContactSolverInfob3ContactSolverInfo63 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 150