Blender  V3.3
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,
35 };
36 
38 {
40  btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
46  btScalar m_sor; //successive over-relaxation term
47  btScalar m_erp; //error reduction for non-contact constraints
48  btScalar m_erp2; //error reduction for contact constraints
49  btScalar m_deformable_erp; //error reduction for deformable constraints
50  btScalar m_deformable_cfm; //constraint force mixing for deformable constraints
51  btScalar m_deformable_maxErrorReduction; // maxErrorReduction for deformable contact
52  btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
53  btScalar m_frictionERP; //error reduction for friction constraints
54  btScalar m_frictionCFM; //constraint force mixing for friction constraints
55 
73 };
74 
76 {
78  {
79  m_tau = btScalar(0.6);
80  m_damping = btScalar(1.0);
81  m_friction = btScalar(0.3);
82  m_timeStep = btScalar(1.f / 60.f);
83  m_restitution = btScalar(0.);
85  m_numIterations = 10;
86  m_erp = btScalar(0.2);
87  m_erp2 = btScalar(0.2);
88  m_deformable_erp = btScalar(0.06);
89  m_deformable_cfm = btScalar(0.01);
91  m_globalCfm = btScalar(0.);
92  m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
93  m_frictionCFM = btScalar(0.);
94  m_sor = btScalar(1.);
95  m_splitImpulse = true;
97  m_splitImpulseTurnErp = 0.1f;
98  m_linearSlop = btScalar(0.0);
101  //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;
102  m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
103  m_restingContactRestitutionThreshold = 2; //unused as of 2.81
104  m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
105  m_maxGyroscopicForce = 100.f;
108  m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
112  m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
113  }
114 };
115 
118 {
119  double m_tau;
120  double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
121  double m_friction;
122  double m_timeStep;
125  double m_sor;
126  double m_erp; //used as Baumgarte factor
127  double m_erp2; //used in Split Impulse
128  double m_globalCfm; //constraint force mixing
131  double m_linearSlop;
136 
142  char m_padding[4];
143 };
146 {
147  float m_tau;
148  float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
149  float m_friction;
150  float m_timeStep;
151 
154  float m_sor;
155  float m_erp; //used as Baumgarte factor
156 
157  float m_erp2; //used in Split Impulse
158  float m_globalCfm; //constraint force mixing
161 
166 
171 
174 
175 };
176 
177 #endif //BT_CONTACT_SOLVER_INFO
btSolverMode
@ SOLVER_SIMD
@ SOLVER_DISABLE_IMPLICIT_CONE_FRICTION
@ SOLVER_USE_ARTICULATED_WARMSTARTING
@ SOLVER_CACHE_FRIENDLY
@ SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
@ SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
@ SOLVER_FRICTION_SEPARATE
@ SOLVER_USE_WARMSTARTING
@ SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
@ SOLVER_RANDMIZE_ORDER
@ SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
@ SOLVER_USE_2_FRICTION_DIRECTIONS
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
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
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64