Bullet Collision Detection & Physics Library
btContactSolverInfo.h
Go to the documentation of this file.
1 /*
2 Bullet Continuous Collision Detection and Physics Library
3 Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
4 
5 This software is provided 'as-is', without any express or implied warranty.
6 In no event will the authors be held liable for any damages arising from the use of this software.
7 Permission is granted to anyone to use this software for any purpose,
8 including commercial applications, and to alter it and redistribute it freely,
9 subject to the following restrictions:
10 
11 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.
12 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
13 3. This notice may not be removed or altered from any source distribution.
14 */
15 
16 #ifndef BT_CONTACT_SOLVER_INFO
17 #define BT_CONTACT_SOLVER_INFO
18 
19 #include "LinearMath/btScalar.h"
20 
22 {
30  SOLVER_SIMD = 256,
34 };
35 
37 {
39  btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
45  btScalar m_sor; //successive over-relaxation term
46  btScalar m_erp; //error reduction for non-contact constraints
47  btScalar m_erp2; //error reduction for contact constraints
48  btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
49  btScalar m_frictionERP; //error reduction for friction constraints
50  btScalar m_frictionCFM; //constraint force mixing for friction constraints
51 
57 
67 };
68 
70 {
72  {
73  m_tau = btScalar(0.6);
74  m_damping = btScalar(1.0);
75  m_friction = btScalar(0.3);
76  m_timeStep = btScalar(1.f / 60.f);
77  m_restitution = btScalar(0.);
79  m_numIterations = 10;
80  m_erp = btScalar(0.2);
81  m_erp2 = btScalar(0.2);
82  m_globalCfm = btScalar(0.);
83  m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
84  m_frictionCFM = btScalar(0.);
85  m_sor = btScalar(1.);
86  m_splitImpulse = true;
88  m_splitImpulseTurnErp = 0.1f;
89  m_linearSlop = btScalar(0.0);
91  //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;
92  m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
93  m_restingContactRestitutionThreshold = 2; //unused as of 2.81
94  m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
95  m_maxGyroscopicForce = 100.f;
98  m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
101  }
102 };
103 
106 {
107  double m_tau;
108  double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
109  double m_friction;
110  double m_timeStep;
113  double m_sor;
114  double m_erp; //used as Baumgarte factor
115  double m_erp2; //used in Split Impulse
116  double m_globalCfm; //constraint force mixing
119  double m_linearSlop;
123 
129  char m_padding[4];
130 };
133 {
134  float m_tau;
135  float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
136  float m_friction;
137  float m_timeStep;
138 
141  float m_sor;
142  float m_erp; //used as Baumgarte factor
143 
144  float m_erp2; //used in Split Impulse
145  float m_globalCfm; //constraint force mixing
148 
153 
158 
160  char m_padding[4];
161 };
162 
163 #endif //BT_CONTACT_SOLVER_INFO
btContactSolverInfoDoubleData::m_maxErrorReduction
double m_maxErrorReduction
Definition: btContactSolverInfo.h:112
btContactSolverInfoData::m_linearSlop
btScalar m_linearSlop
Definition: btContactSolverInfo.h:55
btContactSolverInfoData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:59
btContactSolverInfoFloatData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:157
btContactSolverInfoDoubleData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:124
SOLVER_SIMD
Definition: btContactSolverInfo.h:30
btContactSolverInfoData::m_splitImpulsePenetrationThreshold
btScalar m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:53
btContactSolverInfoDoubleData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:125
btContactSolverInfoFloatData::m_restitution
float m_restitution
Definition: btContactSolverInfo.h:139
btContactSolverInfoDoubleData::m_friction
double m_friction
Definition: btContactSolverInfo.h:109
btContactSolverInfo
Definition: btContactSolverInfo.h:69
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:132
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btContactSolverInfoData
Definition: btContactSolverInfo.h:36
btContactSolverInfoDoubleData::m_maxGyroscopicForce
double m_maxGyroscopicForce
Definition: btContactSolverInfo.h:121
btContactSolverInfoDoubleData::m_restitution
double m_restitution
Definition: btContactSolverInfo.h:111
SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
Definition: btContactSolverInfo.h:28
btContactSolverInfoFloatData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:156
btContactSolverInfoDoubleData::m_singleAxisRollingFrictionThreshold
double m_singleAxisRollingFrictionThreshold
it is only used for 'explicit' version of gyroscopic force
Definition: btContactSolverInfo.h:122
btContactSolverInfoData::m_splitImpulseTurnErp
btScalar m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:54
SOLVER_USE_WARMSTARTING
Definition: btContactSolverInfo.h:25
btContactSolverInfoFloatData::m_linearSlop
float m_linearSlop
Definition: btContactSolverInfo.h:149
btContactSolverInfoDoubleData::m_linearSlop
double m_linearSlop
Definition: btContactSolverInfo.h:119
btContactSolverInfoData::m_sor
btScalar m_sor
Definition: btContactSolverInfo.h:45
btContactSolverInfoData::m_damping
btScalar m_damping
Definition: btContactSolverInfo.h:39
btContactSolverInfoData::m_maxGyroscopicForce
btScalar m_maxGyroscopicForce
Definition: btContactSolverInfo.h:61
btContactSolverInfoFloatData::m_maxGyroscopicForce
float m_maxGyroscopicForce
Definition: btContactSolverInfo.h:151
btContactSolverInfoFloatData::m_erp
float m_erp
Definition: btContactSolverInfo.h:142
btContactSolverInfoData::m_warmstartingFactor
btScalar m_warmstartingFactor
Definition: btContactSolverInfo.h:56
btContactSolverInfoData::m_frictionERP
btScalar m_frictionERP
Definition: btContactSolverInfo.h:49
btContactSolverInfoDoubleData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:127
btSolverMode
btSolverMode
Definition: btContactSolverInfo.h:21
btScalar.h
btContactSolverInfoDoubleData::m_tau
double m_tau
Definition: btContactSolverInfo.h:107
btContactSolverInfoDoubleData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:129
btContactSolverInfoDoubleData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:128
btContactSolverInfoFloatData::m_padding
char m_padding[4]
Definition: btContactSolverInfo.h:160
btContactSolverInfoFloatData::m_splitImpulseTurnErp
float m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:147
btContactSolverInfoFloatData::m_tau
float m_tau
Definition: btContactSolverInfo.h:134
btContactSolverInfoFloatData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:155
btContactSolverInfoDoubleData::m_globalCfm
double m_globalCfm
Definition: btContactSolverInfo.h:116
btContactSolverInfoDoubleData::m_timeStep
double m_timeStep
Definition: btContactSolverInfo.h:110
btContactSolverInfoData::m_maxErrorReduction
btScalar m_maxErrorReduction
Definition: btContactSolverInfo.h:44
btContactSolverInfoData::m_timeStep
btScalar m_timeStep
Definition: btContactSolverInfo.h:41
btContactSolverInfoFloatData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:154
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:62
btContactSolverInfoData::m_frictionCFM
btScalar m_frictionCFM
Definition: btContactSolverInfo.h:50
SOLVER_CACHE_FRIENDLY
Definition: btContactSolverInfo.h:29
btContactSolverInfoDoubleData::m_erp2
double m_erp2
Definition: btContactSolverInfo.h:115
btContactSolverInfoFloatData::m_maxErrorReduction
float m_maxErrorReduction
Definition: btContactSolverInfo.h:140
btContactSolverInfoFloatData::m_damping
float m_damping
Definition: btContactSolverInfo.h:135
btContactSolverInfoDoubleData::m_damping
double m_damping
Definition: btContactSolverInfo.h:108
btContactSolverInfoFloatData::m_globalCfm
float m_globalCfm
Definition: btContactSolverInfo.h:145
btContactSolverInfoFloatData::m_splitImpulsePenetrationThreshold
float m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:146
btContactSolverInfoDoubleData::m_sor
double m_sor
Definition: btContactSolverInfo.h:113
btContactSolverInfoFloatData::m_erp2
float m_erp2
Definition: btContactSolverInfo.h:144
btContactSolverInfoData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:52
btContactSolverInfoData::m_globalCfm
btScalar m_globalCfm
Definition: btContactSolverInfo.h:48
btContactSolverInfoData::m_solverMode
int m_solverMode
Definition: btContactSolverInfo.h:58
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:32
btContactSolverInfoFloatData::m_timeStep
float m_timeStep
Definition: btContactSolverInfo.h:137
btContactSolverInfoData::m_leastSquaresResidualThreshold
btScalar m_leastSquaresResidualThreshold
Definition: btContactSolverInfo.h:63
btContactSolverInfoFloatData::m_sor
float m_sor
Definition: btContactSolverInfo.h:141
btContactSolverInfoData::m_restitution
btScalar m_restitution
Definition: btContactSolverInfo.h:42
btContactSolverInfoDoubleData::m_splitImpulsePenetrationThreshold
double m_splitImpulsePenetrationThreshold
Definition: btContactSolverInfo.h:117
btContactSolverInfoData::m_erp
btScalar m_erp
Definition: btContactSolverInfo.h:46
btContactSolverInfoData::m_friction
btScalar m_friction
Definition: btContactSolverInfo.h:40
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition: btContactSolverInfo.h:105
btContactSolverInfoDoubleData::m_warmstartingFactor
double m_warmstartingFactor
Definition: btContactSolverInfo.h:120
btContactSolverInfoData::m_jointFeedbackInJointFrame
bool m_jointFeedbackInJointFrame
Definition: btContactSolverInfo.h:66
btContactSolverInfoData::m_jointFeedbackInWorldSpace
bool m_jointFeedbackInWorldSpace
Definition: btContactSolverInfo.h:65
SOLVER_FRICTION_SEPARATE
Definition: btContactSolverInfo.h:24
btContactSolverInfoData::m_restitutionVelocityThreshold
btScalar m_restitutionVelocityThreshold
Definition: btContactSolverInfo.h:64
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
Definition: btContactSolverInfo.h:27
btContactSolverInfoFloatData::m_singleAxisRollingFrictionThreshold
float m_singleAxisRollingFrictionThreshold
Definition: btContactSolverInfo.h:152
btContactSolverInfo::btContactSolverInfo
btContactSolverInfo()
Definition: btContactSolverInfo.h:71
btContactSolverInfoDoubleData::m_splitImpulseTurnErp
double m_splitImpulseTurnErp
Definition: btContactSolverInfo.h:118
btContactSolverInfoFloatData::m_friction
float m_friction
Definition: btContactSolverInfo.h:136
SOLVER_USE_2_FRICTION_DIRECTIONS
Definition: btContactSolverInfo.h:26
btContactSolverInfoDoubleData::m_erp
double m_erp
Definition: btContactSolverInfo.h:114
btContactSolverInfoDoubleData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition: btContactSolverInfo.h:126
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
Definition: btContactSolverInfo.h:31
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION
Definition: btContactSolverInfo.h:33
btContactSolverInfoData::m_tau
btScalar m_tau
Definition: btContactSolverInfo.h:38
btContactSolverInfoData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition: btContactSolverInfo.h:60
btContactSolverInfoData::m_numIterations
int m_numIterations
Definition: btContactSolverInfo.h:43
SOLVER_RANDMIZE_ORDER
Definition: btContactSolverInfo.h:23
btContactSolverInfoFloatData::m_warmstartingFactor
float m_warmstartingFactor
Definition: btContactSolverInfo.h:150
btContactSolverInfoData::m_erp2
btScalar m_erp2
Definition: btContactSolverInfo.h:47
btContactSolverInfoFloatData::m_splitImpulse
int m_splitImpulse
Definition: btContactSolverInfo.h:159