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 SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048
34 };
35
36 struct btContactSolverInfoData
37 {
38 btScalar m_tau;
39 btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
40 btScalar m_friction;
41 btScalar m_timeStep;
42 btScalar m_restitution;
43 int m_numIterations;
44 btScalar m_maxErrorReduction;
45 btScalar m_sor; //successive over-relaxation term
46 btScalar m_erp; //error reduction for non-contact constraints
47 btScalar m_erp2; //error reduction for contact constraints
48 btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
49 btScalar m_frictionERP; //error reduction for friction constraints
50 btScalar m_frictionCFM; //constraint force mixing for friction constraints
51
52 int m_splitImpulse;
53 btScalar m_splitImpulsePenetrationThreshold;
54 btScalar m_splitImpulseTurnErp;
55 btScalar m_linearSlop;
56 btScalar m_warmstartingFactor;
57
58 int m_solverMode;
59 int m_restingContactRestitutionThreshold;
60 int m_minimumSolverBatchSize;
61 btScalar m_maxGyroscopicForce;
62 btScalar m_singleAxisRollingFrictionThreshold;
63 btScalar m_leastSquaresResidualThreshold;
64 btScalar m_restitutionVelocityThreshold;
65 bool m_jointFeedbackInWorldSpace;
66 bool m_jointFeedbackInJointFrame;
67 };
68
69 struct btContactSolverInfo : public btContactSolverInfoData
70 {
71 inline btContactSolverInfo()
72 {
73 m_tau = btScalar(0.6);
74 m_damping = btScalar(1.0);
75 m_friction = btScalar(0.3);
76 m_timeStep = btScalar(1.f / 60.f);
77 m_restitution = btScalar(0.);
78 m_maxErrorReduction = btScalar(20.);
79 m_numIterations = 10;
80 m_erp = btScalar(0.2);
81 m_erp2 = btScalar(0.2);
82 m_globalCfm = btScalar(0.);
83 m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
84 m_frictionCFM = btScalar(0.);
85 m_sor = btScalar(1.);
86 m_splitImpulse = true;
87 m_splitImpulsePenetrationThreshold = -.04f;
88 m_splitImpulseTurnErp = 0.1f;
89 m_linearSlop = btScalar(0.0);
90 m_warmstartingFactor = btScalar(0.85);
91 //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;
92 m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
93 m_restingContactRestitutionThreshold = 2; //unused as of 2.81
94 m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
95 m_maxGyroscopicForce = 100.f;
96 m_singleAxisRollingFrictionThreshold = 1e30f;
97 m_leastSquaresResidualThreshold = 0.f;
98 m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
99 m_jointFeedbackInWorldSpace = false;
100 m_jointFeedbackInJointFrame = false;
101 }
102 };
103
105 struct btContactSolverInfoDoubleData
106 {
107 double m_tau;
108 double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
109 double m_friction;
110 double m_timeStep;
111 double m_restitution;
112 double m_maxErrorReduction;
113 double m_sor;
114 double m_erp; //used as Baumgarte factor
115 double m_erp2; //used in Split Impulse
116 double m_globalCfm; //constraint force mixing
117 double m_splitImpulsePenetrationThreshold;
118 double m_splitImpulseTurnErp;
119 double m_linearSlop;
120 double m_warmstartingFactor;
121 double m_maxGyroscopicForce;
122 double m_singleAxisRollingFrictionThreshold;
123
124 int m_numIterations;
125 int m_solverMode;
126 int m_restingContactRestitutionThreshold;
127 int m_minimumSolverBatchSize;
128 int m_splitImpulse;
129 char m_padding[4];
130 };
132 struct btContactSolverInfoFloatData
133 {
134 float m_tau;
135 float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
136 float m_friction;
137 float m_timeStep;
138
139 float m_restitution;
140 float m_maxErrorReduction;
141 float m_sor;
142 float m_erp; //used as Baumgarte factor
143
144 float m_erp2; //used in Split Impulse
145 float m_globalCfm; //constraint force mixing
146 float m_splitImpulsePenetrationThreshold;
147 float m_splitImpulseTurnErp;
148
149 float m_linearSlop;
150 float m_warmstartingFactor;
151 float m_maxGyroscopicForce;
152 float m_singleAxisRollingFrictionThreshold;
153
154 int m_numIterations;
155 int m_solverMode;
156 int m_restingContactRestitutionThreshold;
157 int m_minimumSolverBatchSize;
158
159 int m_splitImpulse;
160 char m_padding[4];
161 };
162
163 #endif //BT_CONTACT_SOLVER_INFO
btContactSolverInfoDoubleData::m_timeStep
double m_timeStep
Definition: btContactSolverInfo.h:110
btContactSolverInfoData::m_splitImpulseTurnErp
btScalar m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:54
btContactSolverInfoData::m_friction
btScalar m_friction
Definition: btContactSolverInfo.h:40
btContactSolverInfoData::m_tau
btScalar m_tau
Definition: btContactSolverInfo.h:38
btContactSolverInfoData::m_jointFeedbackInWorldSpace
bool m_jointFeedbackInWorldSpace
Definition: btContactSolverInfo.h:65
btContactSolverInfoData::m_erp
btScalar m_erp
Definition: btContactSolverInfo.h:46
btContactSolverInfoDoubleData::m_damping
double m_damping
Definition: btContactSolverInfo.h:108
btContactSolverInfoFloatData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:156
btContactSolverInfoDoubleData::m_sor
double m_sor
Definition: btContactSolverInfo.h:113
btContactSolverInfoDoubleData::m_warmstartingFactor
double m_warmstartingFactor
Definition: btContactSolverInfo.h:120
btContactSolverInfoDoubleData::m_maxErrorReduction
double m_maxErrorReduction
Definition: btContactSolverInfo.h:112
SOLVER_FRICTION_SEPARATE
Definition: btContactSolverInfo.h:24
btContactSolverInfoFloatData::m_restitution
float m_restitution
Definition: btContactSolverInfo.h:139
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:32
btContactSolverInfoDoubleData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:127
btContactSolverInfoDoubleData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:124
btContactSolverInfoData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:52
btContactSolverInfoFloatData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:157
SOLVER_USE_WARMSTARTING
Definition: btContactSolverInfo.h:25
btContactSolverInfoDoubleData::m_maxGyroscopicForce
double m_maxGyroscopicForce
Definition: btContactSolverInfo.h:121
btContactSolverInfoFloatData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:160
btSolverMode
btSolverMode
Definition: btContactSolverInfo.h:21
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:62
btContactSolverInfoDoubleData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:128
btContactSolverInfoDoubleData::m_splitImpulseTurnErp
double m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:118
btContactSolverInfoFloatData::m_linearSlop
float m_linearSlop
Definition: btContactSolverInfo.h:149
SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
Definition: btContactSolverInfo.h:28
btContactSolverInfoFloatData::m_erp
float m_erp
Definition: btContactSolverInfo.h:142
btContactSolverInfoData::m_globalCfm
btScalar m_globalCfm
Definition: btContactSolverInfo.h:48
btContactSolverInfoDoubleData::m_tau
double m_tau
Definition: btContactSolverInfo.h:107
btContactSolverInfoFloatData::m_maxGyroscopicForce
float m_maxGyroscopicForce
Definition: btContactSolverInfo.h:151
btContactSolverInfoFloatData::m_splitImpulseTurnErp
float m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:147
btContactSolverInfoData::m_damping
btScalar m_damping
Definition: btContactSolverInfo.h:39
btContactSolverInfoData::m_leastSquaresResidualThreshold
btScalar m_leastSquaresResidualThreshold
Definition: btContactSolverInfo.h:63
btContactSolverInfoFloatData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:155
SOLVER_CACHE_FRIENDLY
Definition: btContactSolverInfo.h:29
btContactSolverInfoFloatData::m_maxErrorReduction
float m_maxErrorReduction
Definition: btContactSolverInfo.h:140
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION
Definition: btContactSolverInfo.h:33
SOLVER_RANDMIZE_ORDER
Definition: btContactSolverInfo.h:23
btContactSolverInfoFloatData::m_globalCfm
float m_globalCfm
Definition: btContactSolverInfo.h:145
btContactSolverInfoDoubleData::m_globalCfm
double m_globalCfm
Definition: btContactSolverInfo.h:116
btContactSolverInfoData::m_restitution
btScalar m_restitution
Definition: btContactSolverInfo.h:42
btContactSolverInfoDoubleData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:125
btContactSolverInfoFloatData::m_tau
float m_tau
Definition: btContactSolverInfo.h:134
btContactSolverInfoDoubleData::m_friction
double m_friction
Definition: btContactSolverInfo.h:109
SOLVER_USE_2_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:26
btContactSolverInfoData::m_frictionERP
btScalar m_frictionERP
Definition: btContactSolverInfo.h:49
btContactSolverInfoFloatData::m_damping
float m_damping
Definition: btContactSolverInfo.h:135
btContactSolverInfoData::m_erp2
btScalar m_erp2
Definition: btContactSolverInfo.h:47
btContactSolverInfoData::m_jointFeedbackInJointFrame
bool m_jointFeedbackInJointFrame
Definition: btContactSolverInfo.h:66
btContactSolverInfoData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:43
btContactSolverInfoFloatData::m_erp2
float m_erp2
Definition: btContactSolverInfo.h:144
SOLVER_SIMD
Definition: btContactSolverInfo.h:30
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:132
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
Definition: btContactSolverInfo.h:31
btContactSolverInfoFloatData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:154
btContactSolverInfoDoubleData::m_erp2
double m_erp2
Definition: btContactSolverInfo.h:115
btContactSolverInfoFloatData::m_singleAxisRollingFrictionThreshold
float m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:152
btContactSolverInfoDoubleData::m_linearSlop
double m_linearSlop
Definition: btContactSolverInfo.h:119
btContactSolverInfoData::m_frictionCFM
btScalar m_frictionCFM
Definition: btContactSolverInfo.h:50
btContactSolverInfo::btContactSolverInfo
btContactSolverInfo()
Definition: btContactSolverInfo.h:71
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btContactSolverInfoFloatData::m_timeStep
float m_timeStep
Definition: btContactSolverInfo.h:137
btContactSolverInfoData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:60
btContactSolverInfoFloatData::m_sor
float m_sor
Definition: btContactSolverInfo.h:141
btContactSolverInfoFloatData::m_splitImpulsePenetrationThreshold
float m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:146
btContactSolverInfoData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:59
btContactSolverInfoDoubleData::m_restitution
double m_restitution
Definition: btContactSolverInfo.h:111
btContactSolverInfoData::m_splitImpulsePenetrationThreshold
btScalar m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:53
btContactSolverInfoDoubleData::m_singleAxisRollingFrictionThreshold
double m_singleAxisRollingFrictionThreshold
it is only used for &#39;explicit&#39; version of gyroscopic force
Definition: btContactSolverInfo.h:122
btContactSolverInfoData::m_maxErrorReduction
btScalar m_maxErrorReduction
Definition: btContactSolverInfo.h:44
btContactSolverInfoDoubleData::m_splitImpulsePenetrationThreshold
double m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:117
btContactSolverInfoFloatData::m_warmstartingFactor
float m_warmstartingFactor
Definition: btContactSolverInfo.h:150
btContactSolverInfoData::m_linearSlop
btScalar m_linearSlop
Definition: btContactSolverInfo.h:55
btContactSolverInfoFloatData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:159
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
Definition: btContactSolverInfo.h:27
btContactSolverInfoData
Definition: btContactSolverInfo.h:36
btContactSolverInfoData::m_timeStep
btScalar m_timeStep
Definition: btContactSolverInfo.h:41
btContactSolverInfoDoubleData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:129
btContactSolverInfoData::m_maxGyroscopicForce
btScalar m_maxGyroscopicForce
Definition: btContactSolverInfo.h:61
btContactSolverInfoDoubleData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:126
btContactSolverInfoData::m_warmstartingFactor
btScalar m_warmstartingFactor
Definition: btContactSolverInfo.h:56
btContactSolverInfoData::m_restitutionVelocityThreshold
btScalar m_restitutionVelocityThreshold
Definition: btContactSolverInfo.h:64
btContactSolverInfoDoubleData::m_erp
double m_erp
Definition: btContactSolverInfo.h:114
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btContactSolverInfoData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:58
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
Definition: btContactSolverInfo.h:105
btContactSolverInfoData::m_sor
btScalar m_sor
Definition: btContactSolverInfo.h:45
btContactSolverInfoFloatData::m_friction
float m_friction
Definition: btContactSolverInfo.h:136
btScalar.h