Bullet Collision Detection & Physics Library: btContactSolverInfo.h Source File

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;//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_globalCfm;//constraint force mixing for contacts and non-contacts
50 btScalar m_frictionERP;//error reduction for friction constraints
51 btScalar m_frictionCFM;//constraint force mixing for friction constraints
52
53 int m_splitImpulse;
54 btScalar m_splitImpulsePenetrationThreshold;
55 btScalar m_splitImpulseTurnErp;
56 btScalar m_linearSlop;
57 btScalar m_warmstartingFactor;
58
59 int m_solverMode;
60 int m_restingContactRestitutionThreshold;
61 int m_minimumSolverBatchSize;
62 btScalar m_maxGyroscopicForce;
63 btScalar m_singleAxisRollingFrictionThreshold;
64 btScalar m_leastSquaresResidualThreshold;
65 btScalar m_restitutionVelocityThreshold;
66
67 };
68
69 struct btContactSolverInfo : public btContactSolverInfoData
70 {
71
72
73
74 inline btContactSolverInfo()
75 {
76 m_tau = btScalar(0.6);
77 m_damping = btScalar(1.0);
78 m_friction = btScalar(0.3);
79 m_timeStep = btScalar(1.f/60.f);
80 m_restitution = btScalar(0.);
81 m_maxErrorReduction = btScalar(20.);
82 m_numIterations = 10;
83 m_erp = btScalar(0.2);
84 m_erp2 = btScalar(0.2);
85 m_globalCfm = btScalar(0.);
86 m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default
87 m_frictionCFM = btScalar(0.);
88 m_sor = btScalar(1.);
89 m_splitImpulse = true;
90 m_splitImpulsePenetrationThreshold = -.04f;
91 m_splitImpulseTurnErp = 0.1f;
92 m_linearSlop = btScalar(0.0);
93 m_warmstartingFactor=btScalar(0.85);
94 //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;
95 m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
96 m_restingContactRestitutionThreshold = 2;//unused as of 2.81
97 m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
98 m_maxGyroscopicForce = 100.f;
99 m_singleAxisRollingFrictionThreshold = 1e30f;
100 m_leastSquaresResidualThreshold = 0.f;
101 m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
102 }
103 };
104
106 struct btContactSolverInfoDoubleData
107 {
108 double m_tau;
109 double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
110 double m_friction;
111 double m_timeStep;
112 double m_restitution;
113 double m_maxErrorReduction;
114 double m_sor;
115 double m_erp;//used as Baumgarte factor
116 double m_erp2;//used in Split Impulse
117 double m_globalCfm;//constraint force mixing
118 double m_splitImpulsePenetrationThreshold;
119 double m_splitImpulseTurnErp;
120 double m_linearSlop;
121 double m_warmstartingFactor;
122 double m_maxGyroscopicForce;
123 double m_singleAxisRollingFrictionThreshold;
124
125 int m_numIterations;
126 int m_solverMode;
127 int m_restingContactRestitutionThreshold;
128 int m_minimumSolverBatchSize;
129 int m_splitImpulse;
130 char m_padding[4];
131
132 };
134 struct btContactSolverInfoFloatData
135 {
136 float m_tau;
137 float m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
138 float m_friction;
139 float m_timeStep;
140
141 float m_restitution;
142 float m_maxErrorReduction;
143 float m_sor;
144 float m_erp;//used as Baumgarte factor
145
146 float m_erp2;//used in Split Impulse
147 float m_globalCfm;//constraint force mixing
148 float m_splitImpulsePenetrationThreshold;
149 float m_splitImpulseTurnErp;
150
151 float m_linearSlop;
152 float m_warmstartingFactor;
153 float m_maxGyroscopicForce;
154 float m_singleAxisRollingFrictionThreshold;
155
156 int m_numIterations;
157 int m_solverMode;
158 int m_restingContactRestitutionThreshold;
159 int m_minimumSolverBatchSize;
160
161 int m_splitImpulse;
162 char m_padding[4];
163 };
164
165
166
167 #endif //BT_CONTACT_SOLVER_INFO
btContactSolverInfoDoubleData::m_timeStep
double m_timeStep
Definition: btContactSolverInfo.h:111
btContactSolverInfoData::m_splitImpulseTurnErp
btScalar m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:55
btContactSolverInfoData::m_friction
btScalar m_friction
Definition: btContactSolverInfo.h:41
btContactSolverInfoData::m_tau
btScalar m_tau
Definition: btContactSolverInfo.h:39
btContactSolverInfoData::m_erp
btScalar m_erp
Definition: btContactSolverInfo.h:47
btContactSolverInfoDoubleData::m_damping
double m_damping
Definition: btContactSolverInfo.h:109
btContactSolverInfoFloatData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:158
btContactSolverInfoDoubleData::m_sor
double m_sor
Definition: btContactSolverInfo.h:114
btContactSolverInfoDoubleData::m_warmstartingFactor
double m_warmstartingFactor
Definition: btContactSolverInfo.h:121
btContactSolverInfoDoubleData::m_maxErrorReduction
double m_maxErrorReduction
Definition: btContactSolverInfo.h:113
SOLVER_FRICTION_SEPARATE
Definition: btContactSolverInfo.h:24
btContactSolverInfoFloatData::m_restitution
float m_restitution
Definition: btContactSolverInfo.h:141
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:32
btContactSolverInfoDoubleData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:128
btContactSolverInfoDoubleData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:125
btContactSolverInfoData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:53
btContactSolverInfoFloatData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:159
SOLVER_USE_WARMSTARTING
Definition: btContactSolverInfo.h:25
btContactSolverInfoDoubleData::m_maxGyroscopicForce
double m_maxGyroscopicForce
Definition: btContactSolverInfo.h:122
btContactSolverInfoFloatData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:162
btSolverMode
btSolverMode
Definition: btContactSolverInfo.h:21
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:63
btContactSolverInfoDoubleData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:129
btContactSolverInfoDoubleData::m_splitImpulseTurnErp
double m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:119
btContactSolverInfoFloatData::m_linearSlop
float m_linearSlop
Definition: btContactSolverInfo.h:151
SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
Definition: btContactSolverInfo.h:28
btContactSolverInfoFloatData::m_erp
float m_erp
Definition: btContactSolverInfo.h:144
btContactSolverInfoData::m_globalCfm
btScalar m_globalCfm
Definition: btContactSolverInfo.h:49
btContactSolverInfoDoubleData::m_tau
double m_tau
Definition: btContactSolverInfo.h:108
btContactSolverInfoFloatData::m_maxGyroscopicForce
float m_maxGyroscopicForce
Definition: btContactSolverInfo.h:153
btContactSolverInfoFloatData::m_splitImpulseTurnErp
float m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:149
btContactSolverInfoData::m_damping
btScalar m_damping
Definition: btContactSolverInfo.h:40
btContactSolverInfoData::m_leastSquaresResidualThreshold
btScalar m_leastSquaresResidualThreshold
Definition: btContactSolverInfo.h:64
btContactSolverInfoFloatData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:157
SOLVER_CACHE_FRIENDLY
Definition: btContactSolverInfo.h:29
btContactSolverInfoFloatData::m_maxErrorReduction
float m_maxErrorReduction
Definition: btContactSolverInfo.h:142
SOLVER_RANDMIZE_ORDER
Definition: btContactSolverInfo.h:23
btContactSolverInfoFloatData::m_globalCfm
float m_globalCfm
Definition: btContactSolverInfo.h:147
btContactSolverInfoDoubleData::m_globalCfm
double m_globalCfm
Definition: btContactSolverInfo.h:117
btContactSolverInfoData::m_restitution
btScalar m_restitution
Definition: btContactSolverInfo.h:43
btContactSolverInfoDoubleData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:126
btContactSolverInfoFloatData::m_tau
float m_tau
Definition: btContactSolverInfo.h:136
btContactSolverInfoDoubleData::m_friction
double m_friction
Definition: btContactSolverInfo.h:110
SOLVER_USE_2_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:26
btContactSolverInfoData::m_frictionERP
btScalar m_frictionERP
Definition: btContactSolverInfo.h:50
btContactSolverInfoFloatData::m_damping
float m_damping
Definition: btContactSolverInfo.h:137
btContactSolverInfoData::m_erp2
btScalar m_erp2
Definition: btContactSolverInfo.h:48
btContactSolverInfoData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:44
btContactSolverInfoFloatData::m_erp2
float m_erp2
Definition: btContactSolverInfo.h:146
SOLVER_SIMD
Definition: btContactSolverInfo.h:30
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:134
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
Definition: btContactSolverInfo.h:31
btContactSolverInfoFloatData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:156
btContactSolverInfoDoubleData::m_erp2
double m_erp2
Definition: btContactSolverInfo.h:116
btContactSolverInfoFloatData::m_singleAxisRollingFrictionThreshold
float m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:154
btContactSolverInfoDoubleData::m_linearSlop
double m_linearSlop
Definition: btContactSolverInfo.h:120
btContactSolverInfoData::m_frictionCFM
btScalar m_frictionCFM
Definition: btContactSolverInfo.h:51
btContactSolverInfo::btContactSolverInfo
btContactSolverInfo()
Definition: btContactSolverInfo.h:74
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btContactSolverInfoFloatData::m_timeStep
float m_timeStep
Definition: btContactSolverInfo.h:139
btContactSolverInfoData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:61
btContactSolverInfoFloatData::m_sor
float m_sor
Definition: btContactSolverInfo.h:143
btContactSolverInfoFloatData::m_splitImpulsePenetrationThreshold
float m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:148
btContactSolverInfoData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:60
btContactSolverInfoDoubleData::m_restitution
double m_restitution
Definition: btContactSolverInfo.h:112
btContactSolverInfoData::m_splitImpulsePenetrationThreshold
btScalar m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:54
btContactSolverInfoDoubleData::m_singleAxisRollingFrictionThreshold
double m_singleAxisRollingFrictionThreshold
it is only used for &#39;explicit&#39; version of gyroscopic force
Definition: btContactSolverInfo.h:123
btContactSolverInfoData::m_maxErrorReduction
btScalar m_maxErrorReduction
Definition: btContactSolverInfo.h:45
btContactSolverInfoDoubleData::m_splitImpulsePenetrationThreshold
double m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:118
btContactSolverInfoFloatData::m_warmstartingFactor
float m_warmstartingFactor
Definition: btContactSolverInfo.h:152
btContactSolverInfoData::m_linearSlop
btScalar m_linearSlop
Definition: btContactSolverInfo.h:56
btContactSolverInfoFloatData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:161
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
Definition: btContactSolverInfo.h:27
btContactSolverInfoData
Definition: btContactSolverInfo.h:35
btContactSolverInfoData::m_timeStep
btScalar m_timeStep
Definition: btContactSolverInfo.h:42
btContactSolverInfoDoubleData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:130
btContactSolverInfoData::m_maxGyroscopicForce
btScalar m_maxGyroscopicForce
Definition: btContactSolverInfo.h:62
btContactSolverInfoDoubleData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:127
btContactSolverInfoData::m_warmstartingFactor
btScalar m_warmstartingFactor
Definition: btContactSolverInfo.h:57
btContactSolverInfoData::m_restitutionVelocityThreshold
btScalar m_restitutionVelocityThreshold
Definition: btContactSolverInfo.h:65
btContactSolverInfoDoubleData::m_erp
double m_erp
Definition: btContactSolverInfo.h:115
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btContactSolverInfoData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:59
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:106
btContactSolverInfoData::m_sor
btScalar m_sor
Definition: btContactSolverInfo.h:46
btContactSolverInfoFloatData::m_friction
float m_friction
Definition: btContactSolverInfo.h:138
btScalar.h