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 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_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 btScalar m_articulatedWarmstartingFactor;
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 bool m_jointFeedbackInWorldSpace;
68 bool m_jointFeedbackInJointFrame;
69 int m_reportSolverAnalytics;
70 };
71
72 struct btContactSolverInfo : public btContactSolverInfoData
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_deformable_erp = btScalar(0.);
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_articulatedWarmstartingFactor = btScalar(0.85);
96 //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;
97 m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
98 m_restingContactRestitutionThreshold = 2; //unused as of 2.81
99 m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
100 m_maxGyroscopicForce = 100.f;
101 m_singleAxisRollingFrictionThreshold = 1e30f;
102 m_leastSquaresResidualThreshold = 0.f;
103 m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
104 m_jointFeedbackInWorldSpace = false;
105 m_jointFeedbackInJointFrame = false;
106 m_reportSolverAnalytics = 0;
107 }
108 };
109
111 struct btContactSolverInfoDoubleData
112 {
113 double m_tau;
114 double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
115 double m_friction;
116 double m_timeStep;
117 double m_restitution;
118 double m_maxErrorReduction;
119 double m_sor;
120 double m_erp; //used as Baumgarte factor
121 double m_erp2; //used in Split Impulse
122 double m_globalCfm; //constraint force mixing
123 double m_splitImpulsePenetrationThreshold;
124 double m_splitImpulseTurnErp;
125 double m_linearSlop;
126 double m_warmstartingFactor;
127 double m_articulatedWarmstartingFactor;
128 double m_maxGyroscopicForce;
129 double m_singleAxisRollingFrictionThreshold;
130
131 int m_numIterations;
132 int m_solverMode;
133 int m_restingContactRestitutionThreshold;
134 int m_minimumSolverBatchSize;
135 int m_splitImpulse;
136 char m_padding[4];
137 };
139 struct btContactSolverInfoFloatData
140 {
141 float m_tau;
142 float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
143 float m_friction;
144 float m_timeStep;
145
146 float m_restitution;
147 float m_maxErrorReduction;
148 float m_sor;
149 float m_erp; //used as Baumgarte factor
150
151 float m_erp2; //used in Split Impulse
152 float m_globalCfm; //constraint force mixing
153 float m_splitImpulsePenetrationThreshold;
154 float m_splitImpulseTurnErp;
155
156 float m_linearSlop;
157 float m_warmstartingFactor;
158 float m_articulatedWarmstartingFactor;
159 float m_maxGyroscopicForce;
160
161 float m_singleAxisRollingFrictionThreshold;
162 int m_numIterations;
163 int m_solverMode;
164 int m_restingContactRestitutionThreshold;
165
166 int m_minimumSolverBatchSize;
167 int m_splitImpulse;
168
169 };
170
171 #endif //BT_CONTACT_SOLVER_INFO
btContactSolverInfoDoubleData::m_maxErrorReduction
double m_maxErrorReduction
Definition: btContactSolverInfo.h:118
btContactSolverInfoData::m_linearSlop
btScalar m_linearSlop
Definition: btContactSolverInfo.h:57
btContactSolverInfoData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:61
btContactSolverInfoFloatData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:166
btContactSolverInfoDoubleData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:131
SOLVER_SIMD
@ SOLVER_SIMD
Definition: btContactSolverInfo.h:30
btContactSolverInfoData::m_splitImpulsePenetrationThreshold
btScalar m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:55
btContactSolverInfoDoubleData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:132
btContactSolverInfoFloatData::m_restitution
float m_restitution
Definition: btContactSolverInfo.h:146
btContactSolverInfoDoubleData::m_friction
double m_friction
Definition: btContactSolverInfo.h:115
btContactSolverInfo
Definition: btContactSolverInfo.h:73
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:140
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
btContactSolverInfoData
Definition: btContactSolverInfo.h:38
btContactSolverInfoDoubleData::m_maxGyroscopicForce
double m_maxGyroscopicForce
Definition: btContactSolverInfo.h:128
btContactSolverInfoDoubleData::m_restitution
double m_restitution
Definition: btContactSolverInfo.h:117
SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
@ SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
Definition: btContactSolverInfo.h:28
btContactSolverInfoFloatData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:164
SOLVER_USE_ARTICULATED_WARMSTARTING
@ SOLVER_USE_ARTICULATED_WARMSTARTING
Definition: btContactSolverInfo.h:34
btContactSolverInfoDoubleData::m_singleAxisRollingFrictionThreshold
double m_singleAxisRollingFrictionThreshold
it is only used for 'explicit' version of gyroscopic force
Definition: btContactSolverInfo.h:129
btContactSolverInfoData::m_splitImpulseTurnErp
btScalar m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:56
SOLVER_USE_WARMSTARTING
@ SOLVER_USE_WARMSTARTING
Definition: btContactSolverInfo.h:25
btContactSolverInfoFloatData::m_linearSlop
float m_linearSlop
Definition: btContactSolverInfo.h:156
btContactSolverInfoDoubleData::m_linearSlop
double m_linearSlop
Definition: btContactSolverInfo.h:125
btContactSolverInfoData::m_sor
btScalar m_sor
Definition: btContactSolverInfo.h:46
btContactSolverInfoData::m_damping
btScalar m_damping
Definition: btContactSolverInfo.h:40
btContactSolverInfoData::m_maxGyroscopicForce
btScalar m_maxGyroscopicForce
Definition: btContactSolverInfo.h:63
btContactSolverInfoFloatData::m_maxGyroscopicForce
float m_maxGyroscopicForce
Definition: btContactSolverInfo.h:159
btContactSolverInfoFloatData::m_erp
float m_erp
Definition: btContactSolverInfo.h:149
btContactSolverInfoData::m_warmstartingFactor
btScalar m_warmstartingFactor
Definition: btContactSolverInfo.h:58
btContactSolverInfoData::m_frictionERP
btScalar m_frictionERP
Definition: btContactSolverInfo.h:51
btContactSolverInfoDoubleData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:134
btSolverMode
btSolverMode
Definition: btContactSolverInfo.h:22
btScalar.h
btContactSolverInfoDoubleData::m_tau
double m_tau
Definition: btContactSolverInfo.h:113
btContactSolverInfoDoubleData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:136
btContactSolverInfoDoubleData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:135
btContactSolverInfoFloatData::m_splitImpulseTurnErp
float m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:154
btContactSolverInfoFloatData::m_tau
float m_tau
Definition: btContactSolverInfo.h:141
btContactSolverInfoFloatData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:163
btContactSolverInfoDoubleData::m_globalCfm
double m_globalCfm
Definition: btContactSolverInfo.h:122
btContactSolverInfoDoubleData::m_timeStep
double m_timeStep
Definition: btContactSolverInfo.h:116
btContactSolverInfoData::m_maxErrorReduction
btScalar m_maxErrorReduction
Definition: btContactSolverInfo.h:45
btContactSolverInfoData::m_timeStep
btScalar m_timeStep
Definition: btContactSolverInfo.h:42
btContactSolverInfoFloatData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:162
btContactSolverInfoDoubleData::m_articulatedWarmstartingFactor
double m_articulatedWarmstartingFactor
Definition: btContactSolverInfo.h:127
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:64
btContactSolverInfoData::m_frictionCFM
btScalar m_frictionCFM
Definition: btContactSolverInfo.h:52
SOLVER_CACHE_FRIENDLY
@ SOLVER_CACHE_FRIENDLY
Definition: btContactSolverInfo.h:29
btContactSolverInfoDoubleData::m_erp2
double m_erp2
Definition: btContactSolverInfo.h:121
btContactSolverInfoFloatData::m_maxErrorReduction
float m_maxErrorReduction
Definition: btContactSolverInfo.h:147
btContactSolverInfoFloatData::m_damping
float m_damping
Definition: btContactSolverInfo.h:142
btContactSolverInfoDoubleData::m_damping
double m_damping
Definition: btContactSolverInfo.h:114
btContactSolverInfoData::m_reportSolverAnalytics
int m_reportSolverAnalytics
Definition: btContactSolverInfo.h:69
btContactSolverInfoFloatData::m_globalCfm
float m_globalCfm
Definition: btContactSolverInfo.h:152
btContactSolverInfoFloatData::m_splitImpulsePenetrationThreshold
float m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:153
btContactSolverInfoDoubleData::m_sor
double m_sor
Definition: btContactSolverInfo.h:119
btContactSolverInfoFloatData::m_erp2
float m_erp2
Definition: btContactSolverInfo.h:151
btContactSolverInfoData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:54
btContactSolverInfoData::m_globalCfm
btScalar m_globalCfm
Definition: btContactSolverInfo.h:50
btContactSolverInfoData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:60
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
@ SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:32
btContactSolverInfoFloatData::m_timeStep
float m_timeStep
Definition: btContactSolverInfo.h:144
btContactSolverInfoData::m_leastSquaresResidualThreshold
btScalar m_leastSquaresResidualThreshold
Definition: btContactSolverInfo.h:65
btContactSolverInfoFloatData::m_sor
float m_sor
Definition: btContactSolverInfo.h:148
btContactSolverInfoData::m_restitution
btScalar m_restitution
Definition: btContactSolverInfo.h:43
btContactSolverInfoDoubleData::m_splitImpulsePenetrationThreshold
double m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:123
btContactSolverInfoData::m_erp
btScalar m_erp
Definition: btContactSolverInfo.h:47
btContactSolverInfoData::m_friction
btScalar m_friction
Definition: btContactSolverInfo.h:41
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:112
btContactSolverInfoDoubleData::m_warmstartingFactor
double m_warmstartingFactor
Definition: btContactSolverInfo.h:126
btContactSolverInfoData::m_deformable_erp
btScalar m_deformable_erp
Definition: btContactSolverInfo.h:49
btContactSolverInfoData::m_jointFeedbackInJointFrame
bool m_jointFeedbackInJointFrame
Definition: btContactSolverInfo.h:68
btContactSolverInfoData::m_articulatedWarmstartingFactor
btScalar m_articulatedWarmstartingFactor
Definition: btContactSolverInfo.h:59
btContactSolverInfoData::m_jointFeedbackInWorldSpace
bool m_jointFeedbackInWorldSpace
Definition: btContactSolverInfo.h:67
SOLVER_FRICTION_SEPARATE
@ SOLVER_FRICTION_SEPARATE
Definition: btContactSolverInfo.h:24
btContactSolverInfoData::m_restitutionVelocityThreshold
btScalar m_restitutionVelocityThreshold
Definition: btContactSolverInfo.h:66
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
@ SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
Definition: btContactSolverInfo.h:27
btContactSolverInfoFloatData::m_singleAxisRollingFrictionThreshold
float m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:161
btContactSolverInfo::btContactSolverInfo
btContactSolverInfo()
Definition: btContactSolverInfo.h:74
btContactSolverInfoDoubleData::m_splitImpulseTurnErp
double m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:124
btContactSolverInfoFloatData::m_friction
float m_friction
Definition: btContactSolverInfo.h:143
SOLVER_USE_2_FRICTION_DIRECTIONS
@ SOLVER_USE_2_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:26
btContactSolverInfoDoubleData::m_erp
double m_erp
Definition: btContactSolverInfo.h:120
btContactSolverInfoDoubleData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:133
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
@ SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
Definition: btContactSolverInfo.h:31
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION
@ SOLVER_DISABLE_IMPLICIT_CONE_FRICTION
Definition: btContactSolverInfo.h:33
btContactSolverInfoData::m_tau
btScalar m_tau
Definition: btContactSolverInfo.h:39
btContactSolverInfoData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:62
btContactSolverInfoFloatData::m_articulatedWarmstartingFactor
float m_articulatedWarmstartingFactor
Definition: btContactSolverInfo.h:158
btContactSolverInfoData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:44
SOLVER_RANDMIZE_ORDER
@ SOLVER_RANDMIZE_ORDER
Definition: btContactSolverInfo.h:23
btContactSolverInfoFloatData::m_warmstartingFactor
float m_warmstartingFactor
Definition: btContactSolverInfo.h:157
btContactSolverInfoData::m_erp2
btScalar m_erp2
Definition: btContactSolverInfo.h:48
btContactSolverInfoFloatData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:167