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 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 { btContactSolverInfobtContactSolverInfo77 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 178