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 
22 {
30  SOLVER_SIMD = 256,
35 };
36 
38 {
40  btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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 
73 };
74 
76 {
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.);
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);
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;
97  m_splitImpulseTurnErp = 0.1f;
98  m_linearSlop = btScalar(0.0);
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;
108  m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
112  m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
113  }
114 };
115 
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;
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
131  double m_linearSlop;
136 
142  char m_padding[4];
143 };
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 
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
161 
166 
171 
174 
175 };
176 
177 #endif //BT_CONTACT_SOLVER_INFO
btContactSolverInfoDoubleData::m_maxErrorReduction
double m_maxErrorReduction
Definition: btContactSolverInfo.h:124
btContactSolverInfoData::m_linearSlop
btScalar m_linearSlop
Definition: btContactSolverInfo.h:59
btContactSolverInfoData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:63
btContactSolverInfoFloatData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:172
btContactSolverInfoDoubleData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:137
SOLVER_SIMD
@ SOLVER_SIMD
Definition: btContactSolverInfo.h:30
btContactSolverInfoData::m_splitImpulsePenetrationThreshold
btScalar m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:57
btContactSolverInfoDoubleData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:138
btContactSolverInfoFloatData::m_restitution
float m_restitution
Definition: btContactSolverInfo.h:152
btContactSolverInfoDoubleData::m_friction
double m_friction
Definition: btContactSolverInfo.h:121
btContactSolverInfo
Definition: btContactSolverInfo.h:76
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:146
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:134
btContactSolverInfoDoubleData::m_restitution
double m_restitution
Definition: btContactSolverInfo.h:123
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:170
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:135
btContactSolverInfoData::m_splitImpulseTurnErp
btScalar m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:58
SOLVER_USE_WARMSTARTING
@ SOLVER_USE_WARMSTARTING
Definition: btContactSolverInfo.h:25
btContactSolverInfoFloatData::m_linearSlop
float m_linearSlop
Definition: btContactSolverInfo.h:162
btContactSolverInfoDoubleData::m_linearSlop
double m_linearSlop
Definition: btContactSolverInfo.h:131
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:65
btContactSolverInfoFloatData::m_maxGyroscopicForce
float m_maxGyroscopicForce
Definition: btContactSolverInfo.h:165
btContactSolverInfoFloatData::m_erp
float m_erp
Definition: btContactSolverInfo.h:155
btContactSolverInfoData::m_warmstartingFactor
btScalar m_warmstartingFactor
Definition: btContactSolverInfo.h:60
btContactSolverInfoData::m_frictionERP
btScalar m_frictionERP
Definition: btContactSolverInfo.h:53
btContactSolverInfoDoubleData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:140
btSolverMode
btSolverMode
Definition: btContactSolverInfo.h:22
btScalar.h
btContactSolverInfoDoubleData::m_tau
double m_tau
Definition: btContactSolverInfo.h:119
btContactSolverInfoDoubleData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:142
btContactSolverInfoDoubleData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:141
btContactSolverInfoFloatData::m_splitImpulseTurnErp
float m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:160
btContactSolverInfoFloatData::m_tau
float m_tau
Definition: btContactSolverInfo.h:147
btContactSolverInfoFloatData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:169
btContactSolverInfoDoubleData::m_globalCfm
double m_globalCfm
Definition: btContactSolverInfo.h:128
btContactSolverInfoDoubleData::m_timeStep
double m_timeStep
Definition: btContactSolverInfo.h:122
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:168
btContactSolverInfoDoubleData::m_articulatedWarmstartingFactor
double m_articulatedWarmstartingFactor
Definition: btContactSolverInfo.h:133
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:66
btContactSolverInfoData::m_frictionCFM
btScalar m_frictionCFM
Definition: btContactSolverInfo.h:54
SOLVER_CACHE_FRIENDLY
@ SOLVER_CACHE_FRIENDLY
Definition: btContactSolverInfo.h:29
btContactSolverInfoDoubleData::m_erp2
double m_erp2
Definition: btContactSolverInfo.h:127
btContactSolverInfoFloatData::m_maxErrorReduction
float m_maxErrorReduction
Definition: btContactSolverInfo.h:153
btContactSolverInfoFloatData::m_damping
float m_damping
Definition: btContactSolverInfo.h:148
btContactSolverInfoDoubleData::m_damping
double m_damping
Definition: btContactSolverInfo.h:120
btContactSolverInfoData::m_reportSolverAnalytics
int m_reportSolverAnalytics
Definition: btContactSolverInfo.h:71
btContactSolverInfoFloatData::m_globalCfm
float m_globalCfm
Definition: btContactSolverInfo.h:158
btContactSolverInfoFloatData::m_splitImpulsePenetrationThreshold
float m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:159
btContactSolverInfoDoubleData::m_sor
double m_sor
Definition: btContactSolverInfo.h:125
btContactSolverInfoFloatData::m_erp2
float m_erp2
Definition: btContactSolverInfo.h:157
btContactSolverInfoData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:56
btContactSolverInfoData::m_globalCfm
btScalar m_globalCfm
Definition: btContactSolverInfo.h:52
btContactSolverInfoData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:62
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:150
btContactSolverInfoData::m_leastSquaresResidualThreshold
btScalar m_leastSquaresResidualThreshold
Definition: btContactSolverInfo.h:67
btContactSolverInfoFloatData::m_sor
float m_sor
Definition: btContactSolverInfo.h:154
btContactSolverInfoData::m_deformable_maxErrorReduction
btScalar m_deformable_maxErrorReduction
Definition: btContactSolverInfo.h:51
btContactSolverInfoData::m_restitution
btScalar m_restitution
Definition: btContactSolverInfo.h:43
btContactSolverInfoDoubleData::m_splitImpulsePenetrationThreshold
double m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:129
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:118
btContactSolverInfoDoubleData::m_warmstartingFactor
double m_warmstartingFactor
Definition: btContactSolverInfo.h:132
btContactSolverInfoData::m_deformable_erp
btScalar m_deformable_erp
Definition: btContactSolverInfo.h:49
btContactSolverInfoData::m_jointFeedbackInJointFrame
bool m_jointFeedbackInJointFrame
Definition: btContactSolverInfo.h:70
btContactSolverInfoData::m_articulatedWarmstartingFactor
btScalar m_articulatedWarmstartingFactor
Definition: btContactSolverInfo.h:61
btContactSolverInfoData::m_jointFeedbackInWorldSpace
bool m_jointFeedbackInWorldSpace
Definition: btContactSolverInfo.h:69
SOLVER_FRICTION_SEPARATE
@ SOLVER_FRICTION_SEPARATE
Definition: btContactSolverInfo.h:24
btContactSolverInfoData::m_restitutionVelocityThreshold
btScalar m_restitutionVelocityThreshold
Definition: btContactSolverInfo.h:68
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
@ SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
Definition: btContactSolverInfo.h:27
btContactSolverInfoFloatData::m_singleAxisRollingFrictionThreshold
float m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:167
btContactSolverInfo::btContactSolverInfo
btContactSolverInfo()
Definition: btContactSolverInfo.h:77
btContactSolverInfoDoubleData::m_splitImpulseTurnErp
double m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:130
btContactSolverInfoFloatData::m_friction
float m_friction
Definition: btContactSolverInfo.h:149
SOLVER_USE_2_FRICTION_DIRECTIONS
@ SOLVER_USE_2_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:26
btContactSolverInfoDoubleData::m_erp
double m_erp
Definition: btContactSolverInfo.h:126
btContactSolverInfoData::m_numNonContactInnerIterations
int m_numNonContactInnerIterations
Definition: btContactSolverInfo.h:72
btContactSolverInfoDoubleData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:139
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:64
btContactSolverInfoFloatData::m_articulatedWarmstartingFactor
float m_articulatedWarmstartingFactor
Definition: btContactSolverInfo.h:164
btContactSolverInfoData::m_deformable_cfm
btScalar m_deformable_cfm
Definition: btContactSolverInfo.h:50
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:163
btContactSolverInfoData::m_erp2
btScalar m_erp2
Definition: btContactSolverInfo.h:48
btContactSolverInfoFloatData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:173