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/*
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;
};
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
}
};
#endif //CONTACT_SOLVER_INFO
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