diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 16 |
1 files changed, 13 insertions, 3 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 916d4581f79..e99430c00de 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -21,7 +21,13 @@ enum btSolverMode SOLVER_RANDMIZE_ORDER = 1, SOLVER_FRICTION_SEPARATE = 2, SOLVER_USE_WARMSTARTING = 4, - SOLVER_CACHE_FRIENDLY = 8 + 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 @@ -38,12 +44,14 @@ struct btContactSolverInfoData 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; }; @@ -63,12 +71,14 @@ struct btContactSolverInfo : public btContactSolverInfoData m_numIterations = 10; m_erp = btScalar(0.2); m_erp2 = btScalar(0.1); - m_sor = btScalar(1.3); + 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_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING; + m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD ;//SOLVER_RANDMIZE_ORDER + m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution } }; |