Bullet Collision Detection & Physics Library
btContactSolverInfo.h
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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
btSolverMode
btScalar m_singleAxisRollingFrictionThreshold
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...
double m_singleAxisRollingFrictionThreshold
it is only used for 'explicit' version of gyroscopic force
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ...