88 lines
3.1 KiB
C
88 lines
3.1 KiB
C
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/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef CONTACT_SOLVER_INFO
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#define CONTACT_SOLVER_INFO
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enum btSolverMode
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{
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SOLVER_RANDMIZE_ORDER = 1,
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SOLVER_FRICTION_SEPARATE = 2,
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SOLVER_USE_WARMSTARTING = 4,
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SOLVER_USE_FRICTION_WARMSTARTING = 8,
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SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
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SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
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SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
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SOLVER_CACHE_FRIENDLY = 128,
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SOLVER_SIMD = 256, //enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
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SOLVER_CUDA = 512 //will be open sourced during Game Developers Conference 2009. Much faster.
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};
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struct btContactSolverInfoData
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{
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btScalar m_tau;
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btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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btScalar m_friction;
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btScalar m_timeStep;
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btScalar m_restitution;
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int m_numIterations;
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btScalar m_maxErrorReduction;
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btScalar m_sor;
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btScalar m_erp;//used as Baumgarte factor
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btScalar m_erp2;//used in Split Impulse
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btScalar m_globalCfm;//constraint force mixing
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int m_splitImpulse;
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btScalar m_splitImpulsePenetrationThreshold;
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btScalar m_linearSlop;
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btScalar m_warmstartingFactor;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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};
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struct btContactSolverInfo : public btContactSolverInfoData
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{
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inline btContactSolverInfo()
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{
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m_tau = btScalar(0.6);
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m_damping = btScalar(1.0);
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m_friction = btScalar(0.3);
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m_restitution = btScalar(0.);
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m_maxErrorReduction = btScalar(20.);
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m_numIterations = 10;
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m_erp = btScalar(0.2);
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m_erp2 = btScalar(0.1);
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m_globalCfm = btScalar(0.);
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m_sor = btScalar(1.);
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m_splitImpulse = false;
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m_splitImpulsePenetrationThreshold = -0.02f;
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m_linearSlop = btScalar(0.0);
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m_warmstartingFactor=btScalar(0.85);
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m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
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m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
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m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
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}
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};
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#endif //CONTACT_SOLVER_INFO
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