diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 86 |
1 files changed, 79 insertions, 7 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 6204cb3d16c..c07e9bbd806 100644 --- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -16,18 +16,20 @@ subject to the following restrictions: #ifndef BT_CONTACT_SOLVER_INFO #define BT_CONTACT_SOLVER_INFO +#include "LinearMath/btScalar.h" + 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. + SOLVER_SIMD = 256, + SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512, + SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024 }; struct btContactSolverInfoData @@ -47,12 +49,15 @@ struct btContactSolverInfoData btScalar m_globalCfm;//constraint force mixing int m_splitImpulse; btScalar m_splitImpulsePenetrationThreshold; + btScalar m_splitImpulseTurnErp; btScalar m_linearSlop; btScalar m_warmstartingFactor; int m_solverMode; int m_restingContactRestitutionThreshold; int m_minimumSolverBatchSize; + btScalar m_maxGyroscopicForce; + btScalar m_singleAxisRollingFrictionThreshold; }; @@ -67,21 +72,88 @@ struct btContactSolverInfo : public btContactSolverInfoData m_tau = btScalar(0.6); m_damping = btScalar(1.0); m_friction = btScalar(0.3); + m_timeStep = btScalar(1.f/60.f); m_restitution = btScalar(0.); m_maxErrorReduction = btScalar(20.); m_numIterations = 10; m_erp = btScalar(0.2); - m_erp2 = btScalar(0.1); + m_erp2 = btScalar(0.8); m_globalCfm = btScalar(0.); m_sor = btScalar(1.); - m_splitImpulse = false; - m_splitImpulsePenetrationThreshold = -0.02f; + m_splitImpulse = true; + m_splitImpulsePenetrationThreshold = -.04f; + m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor=btScalar(0.85); + //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; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER; - m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution + m_restingContactRestitutionThreshold = 2;//unused as of 2.81 m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit + m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag) + m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. } }; +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btContactSolverInfoDoubleData +{ + double m_tau; + double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + double m_friction; + double m_timeStep; + double m_restitution; + double m_maxErrorReduction; + double m_sor; + double m_erp;//used as Baumgarte factor + double m_erp2;//used in Split Impulse + double m_globalCfm;//constraint force mixing + double m_splitImpulsePenetrationThreshold; + double m_splitImpulseTurnErp; + double m_linearSlop; + double m_warmstartingFactor; + double m_maxGyroscopicForce; + double m_singleAxisRollingFrictionThreshold; + + int m_numIterations; + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + int m_splitImpulse; + char m_padding[4]; + +}; +///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 +struct btContactSolverInfoFloatData +{ + float m_tau; + float m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. + float m_friction; + float m_timeStep; + + float m_restitution; + float m_maxErrorReduction; + float m_sor; + float m_erp;//used as Baumgarte factor + + float m_erp2;//used in Split Impulse + float m_globalCfm;//constraint force mixing + float m_splitImpulsePenetrationThreshold; + float m_splitImpulseTurnErp; + + float m_linearSlop; + float m_warmstartingFactor; + float m_maxGyroscopicForce; + float m_singleAxisRollingFrictionThreshold; + + int m_numIterations; + int m_solverMode; + int m_restingContactRestitutionThreshold; + int m_minimumSolverBatchSize; + + int m_splitImpulse; + char m_padding[4]; +}; + + + #endif //BT_CONTACT_SOLVER_INFO |