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Diffstat (limited to 'extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h')
-rw-r--r-- | extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 87 |
1 files changed, 87 insertions, 0 deletions
diff --git a/extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h new file mode 100644 index 00000000000..1025da42f5e --- /dev/null +++ b/extern/bullet2/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -0,0 +1,87 @@ +/* +Bullet Continuous Collision Detection and Physics Library +Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +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. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. +*/ + +#ifndef CONTACT_SOLVER_INFO +#define CONTACT_SOLVER_INFO + +enum btSolverMode +{ + SOLVER_RANDMIZE_ORDER = 1, + SOLVER_FRICTION_SEPARATE = 2, + SOLVER_USE_WARMSTARTING = 4, + SOLVER_USE_FRICTION_WARMSTARTING = 8, + SOLVER_USE_2_FRICTION_DIRECTIONS = 16, + SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32, + SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64, + SOLVER_CACHE_FRIENDLY = 128, + SOLVER_SIMD = 256, //enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version + SOLVER_CUDA = 512 //will be open sourced during Game Developers Conference 2009. Much faster. +}; + +struct btContactSolverInfoData +{ + + + btScalar m_tau; + btScalar m_damping; + btScalar m_friction; + btScalar m_timeStep; + btScalar m_restitution; + int m_numIterations; + btScalar m_maxErrorReduction; + btScalar m_sor; + btScalar m_erp;//used as Baumgarte factor + btScalar m_erp2;//used in Split Impulse + btScalar m_globalCfm;//constraint force mixing + int m_splitImpulse; + btScalar m_splitImpulsePenetrationThreshold; + btScalar m_linearSlop; + btScalar m_warmstartingFactor; + + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + + +}; + +struct btContactSolverInfo : public btContactSolverInfoData +{ + + + + inline btContactSolverInfo() + { + m_tau = btScalar(0.6); + m_damping = btScalar(1.0); + m_friction = btScalar(0.3); + m_restitution = btScalar(0.); + m_maxErrorReduction = btScalar(20.); + m_numIterations = 10; + m_erp = btScalar(0.2); + m_erp2 = btScalar(0.1); + m_globalCfm = btScalar(0.); + m_sor = btScalar(1.); + m_splitImpulse = false; + m_splitImpulsePenetrationThreshold = -0.02f; + m_linearSlop = btScalar(0.0); + m_warmstartingFactor=btScalar(0.85); + m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER; + m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution + m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit + } +}; + +#endif //CONTACT_SOLVER_INFO |