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path: root/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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Diffstat (limited to 'extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h')
-rw-r--r--extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h204
1 files changed, 111 insertions, 93 deletions
diff --git a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
index a3a0fa6729f..3316403a873 100644
--- a/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
+++ b/extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
@@ -18,7 +18,7 @@ subject to the following restrictions:
#include "LinearMath/btScalar.h"
-enum btSolverMode
+enum btSolverMode
{
SOLVER_RANDMIZE_ORDER = 1,
SOLVER_FRICTION_SEPARATE = 2,
@@ -29,131 +29,149 @@ enum btSolverMode
SOLVER_CACHE_FRIENDLY = 128,
SOLVER_SIMD = 256,
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
- SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
+ SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024,
+ SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
+ SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
};
struct btContactSolverInfoData
{
-
-
- btScalar m_tau;
- btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
- 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_splitImpulseTurnErp;
- btScalar m_linearSlop;
- btScalar m_warmstartingFactor;
-
- int m_solverMode;
- int m_restingContactRestitutionThreshold;
- int m_minimumSolverBatchSize;
- btScalar m_maxGyroscopicForce;
- btScalar m_singleAxisRollingFrictionThreshold;
-
-
+ btScalar m_tau;
+ btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
+ btScalar m_friction;
+ btScalar m_timeStep;
+ btScalar m_restitution;
+ int m_numIterations;
+ btScalar m_maxErrorReduction;
+ btScalar m_sor; //successive over-relaxation term
+ btScalar m_erp; //error reduction for non-contact constraints
+ btScalar m_erp2; //error reduction for contact constraints
+ btScalar m_deformable_erp; //error reduction for deformable constraints
+ btScalar m_deformable_cfm; //constraint force mixing for deformable constraints
+ btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact
+ btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
+ btScalar m_frictionERP; //error reduction for friction constraints
+ btScalar m_frictionCFM; //constraint force mixing for friction constraints
+
+ int m_splitImpulse;
+ btScalar m_splitImpulsePenetrationThreshold;
+ btScalar m_splitImpulseTurnErp;
+ btScalar m_linearSlop;
+ btScalar m_warmstartingFactor;
+ btScalar m_articulatedWarmstartingFactor;
+ int m_solverMode;
+ int m_restingContactRestitutionThreshold;
+ int m_minimumSolverBatchSize;
+ btScalar m_maxGyroscopicForce;
+ btScalar m_singleAxisRollingFrictionThreshold;
+ btScalar m_leastSquaresResidualThreshold;
+ btScalar m_restitutionVelocityThreshold;
+ bool m_jointFeedbackInWorldSpace;
+ bool m_jointFeedbackInJointFrame;
+ int m_reportSolverAnalytics;
+ int m_numNonContactInnerIterations;
};
struct btContactSolverInfo : public btContactSolverInfoData
{
-
-
-
inline btContactSolverInfo()
{
m_tau = btScalar(0.6);
m_damping = btScalar(1.0);
m_friction = btScalar(0.3);
- m_timeStep = btScalar(1.f/60.f);
+ 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(0.8);
+ m_erp2 = btScalar(0.2);
+ m_deformable_erp = btScalar(0.06);
+ m_deformable_cfm = btScalar(0.01);
+ m_deformable_maxErrorReduction = btScalar(0.1);
m_globalCfm = btScalar(0.);
+ m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
+ m_frictionCFM = btScalar(0.);
m_sor = btScalar(1.);
m_splitImpulse = true;
m_splitImpulsePenetrationThreshold = -.04f;
m_splitImpulseTurnErp = 0.1f;
m_linearSlop = btScalar(0.0);
- m_warmstartingFactor=btScalar(0.85);
+ m_warmstartingFactor = btScalar(0.85);
+ m_articulatedWarmstartingFactor = 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;//unused as of 2.81
- m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
- m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
- m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
+ m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
+ 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; ///it is only used for 'explicit' version of gyroscopic force
+ m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
+ m_leastSquaresResidualThreshold = 0.f;
+ m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
+ m_jointFeedbackInWorldSpace = false;
+ m_jointFeedbackInJointFrame = false;
+ m_reportSolverAnalytics = 0;
+ m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
}
};
///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;///it is only used for 'explicit' version of gyroscopic force
- double m_singleAxisRollingFrictionThreshold;
-
- int m_numIterations;
- int m_solverMode;
- int m_restingContactRestitutionThreshold;
- int m_minimumSolverBatchSize;
- int m_splitImpulse;
- char m_padding[4];
-
+ 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_articulatedWarmstartingFactor;
+ double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force
+ 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];
+ 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_articulatedWarmstartingFactor;
+ float m_maxGyroscopicForce;
+
+ float m_singleAxisRollingFrictionThreshold;
+ int m_numIterations;
+ int m_solverMode;
+ int m_restingContactRestitutionThreshold;
+
+ int m_minimumSolverBatchSize;
+ int m_splitImpulse;
+
};
-
-
-#endif //BT_CONTACT_SOLVER_INFO
+#endif //BT_CONTACT_SOLVER_INFO
generated by cgit v1.2.3 (git 2.25.1) at 2024-07-11 14:32:46 +0300