Upgrade Bullet to version 2.83.
[blender.git] / extern / bullet2 / src / BulletDynamics / ConstraintSolver / btContactSolverInfo.h
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
21 enum    btSolverMode
22 {
23         SOLVER_RANDMIZE_ORDER = 1,
24         SOLVER_FRICTION_SEPARATE = 2,
25         SOLVER_USE_WARMSTARTING = 4,
26         SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
27         SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
28         SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
29         SOLVER_CACHE_FRIENDLY = 128,
30         SOLVER_SIMD = 256,
31         SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS = 512,
32         SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS = 1024
33 };
34
35 struct btContactSolverInfoData
36 {
37         
38
39         btScalar        m_tau;
40         btScalar        m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
41         btScalar        m_friction;
42         btScalar        m_timeStep;
43         btScalar        m_restitution;
44         int             m_numIterations;
45         btScalar        m_maxErrorReduction;
46         btScalar        m_sor;
47         btScalar        m_erp;//used as Baumgarte factor
48         btScalar        m_erp2;//used in Split Impulse
49         btScalar        m_globalCfm;//constraint force mixing
50         int                     m_splitImpulse;
51         btScalar        m_splitImpulsePenetrationThreshold;
52         btScalar        m_splitImpulseTurnErp;
53         btScalar        m_linearSlop;
54         btScalar        m_warmstartingFactor;
55
56         int                     m_solverMode;
57         int     m_restingContactRestitutionThreshold;
58         int                     m_minimumSolverBatchSize;
59         btScalar        m_maxGyroscopicForce;
60         btScalar        m_singleAxisRollingFrictionThreshold;
61
62
63 };
64
65 struct btContactSolverInfo : public btContactSolverInfoData
66 {
67
68         
69
70         inline btContactSolverInfo()
71         {
72                 m_tau = btScalar(0.6);
73                 m_damping = btScalar(1.0);
74                 m_friction = btScalar(0.3);
75                 m_timeStep = btScalar(1.f/60.f);
76                 m_restitution = btScalar(0.);
77                 m_maxErrorReduction = btScalar(20.);
78                 m_numIterations = 10;
79                 m_erp = btScalar(0.2);
80                 m_erp2 = btScalar(0.8);
81                 m_globalCfm = btScalar(0.);
82                 m_sor = btScalar(1.);
83                 m_splitImpulse = true;
84                 m_splitImpulsePenetrationThreshold = -.04f;
85                 m_splitImpulseTurnErp = 0.1f;
86                 m_linearSlop = btScalar(0.0);
87                 m_warmstartingFactor=btScalar(0.85);
88                 //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;
89                 m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
90                 m_restingContactRestitutionThreshold = 2;//unused as of 2.81
91                 m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
92                 m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
93                 m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
94         }
95 };
96
97 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
98 struct btContactSolverInfoDoubleData
99 {
100         double          m_tau;
101         double          m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
102         double          m_friction;
103         double          m_timeStep;
104         double          m_restitution;
105         double          m_maxErrorReduction;
106         double          m_sor;
107         double          m_erp;//used as Baumgarte factor
108         double          m_erp2;//used in Split Impulse
109         double          m_globalCfm;//constraint force mixing
110         double          m_splitImpulsePenetrationThreshold;
111         double          m_splitImpulseTurnErp;
112         double          m_linearSlop;
113         double          m_warmstartingFactor;
114         double          m_maxGyroscopicForce;///it is only used for 'explicit' version of gyroscopic force
115         double          m_singleAxisRollingFrictionThreshold;
116
117         int                     m_numIterations;
118         int                     m_solverMode;
119         int                     m_restingContactRestitutionThreshold;
120         int                     m_minimumSolverBatchSize;
121         int                     m_splitImpulse;
122         char            m_padding[4];
123
124 };
125 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
126 struct btContactSolverInfoFloatData
127 {
128         float           m_tau;
129         float           m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
130         float           m_friction;
131         float           m_timeStep;
132
133         float           m_restitution;
134         float           m_maxErrorReduction;
135         float           m_sor;
136         float           m_erp;//used as Baumgarte factor
137
138         float           m_erp2;//used in Split Impulse
139         float           m_globalCfm;//constraint force mixing
140         float           m_splitImpulsePenetrationThreshold;
141         float           m_splitImpulseTurnErp;
142
143         float           m_linearSlop;
144         float           m_warmstartingFactor;
145         float           m_maxGyroscopicForce;
146         float           m_singleAxisRollingFrictionThreshold;
147
148         int                     m_numIterations;
149         int                     m_solverMode;
150         int                     m_restingContactRestitutionThreshold;
151         int                     m_minimumSolverBatchSize;
152
153         int                     m_splitImpulse;
154         char            m_padding[4];
155 };
156
157
158
159 #endif //BT_CONTACT_SOLVER_INFO