Bullet Collision Detection & Physics Library: btContactSolverInfo.h Source File

Bullet Collision Detection & Physics Library

- Main Page
- Namespaces
- Classes
- Files

- File List
- File Members

btContactSolverInfo.h
Go to the documentation of this file.
1/*
2Bullet Continuous Collision Detection and Physics Library
3Copyright (c) 2003-2006 Erwin Coumans https://bulletphysics.org
4
5This software is provided 'as-is', without any express or implied warranty.
6In no event will the authors be held liable for any damages arising from the use of this software.
7Permission is granted to anyone to use this software for any purpose,
8including commercial applications, and to alter it and redistribute it freely,
9subject to the following restrictions:
10
111. 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.
122. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
133. 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 SOLVER_DISABLE_IMPLICIT_CONE_FRICTION = 2048,
34 SOLVER_USE_ARTICULATED_WARMSTARTING = 4096,
35};
36
37 struct btContactSolverInfoData
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; //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
56 int m_splitImpulse;
57 btScalar m_splitImpulsePenetrationThreshold;
58 btScalar m_splitImpulseTurnErp;
59 btScalar m_linearSlop;
60 btScalar m_warmstartingFactor;
61 btScalar m_articulatedWarmstartingFactor;
62 int m_solverMode;
63 int m_restingContactRestitutionThreshold;
64 int m_minimumSolverBatchSize;
65 btScalar m_maxGyroscopicForce;
66 btScalar m_singleAxisRollingFrictionThreshold;
67 btScalar m_leastSquaresResidualThreshold;
68 btScalar m_restitutionVelocityThreshold;
69 bool m_jointFeedbackInWorldSpace;
70 bool m_jointFeedbackInJointFrame;
71 int m_reportSolverAnalytics;
72 int m_numNonContactInnerIterations;
73};
74
75 struct btContactSolverInfo : public btContactSolverInfoData
76{
77 inline btContactSolverInfo()
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.);
84 m_maxErrorReduction = btScalar(20.);
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);
90 m_deformable_maxErrorReduction = btScalar(0.1);
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;
96 m_splitImpulsePenetrationThreshold = -.04f;
97 m_splitImpulseTurnErp = 0.1f;
98 m_linearSlop = btScalar(0.0);
99 m_warmstartingFactor = btScalar(0.85);
100 m_articulatedWarmstartingFactor = btScalar(0.85);
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;
106 m_singleAxisRollingFrictionThreshold = 1e30f;
107 m_leastSquaresResidualThreshold = 0.f;
108 m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
109 m_jointFeedbackInWorldSpace = false;
110 m_jointFeedbackInJointFrame = false;
111 m_reportSolverAnalytics = 0;
112 m_numNonContactInnerIterations = 1; // the number of inner iterations for solving motor constraint in a single iteration of the constraint solve
113 }
114};
115
117 struct btContactSolverInfoDoubleData
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;
123 double m_restitution;
124 double m_maxErrorReduction;
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
129 double m_splitImpulsePenetrationThreshold;
130 double m_splitImpulseTurnErp;
131 double m_linearSlop;
132 double m_warmstartingFactor;
133 double m_articulatedWarmstartingFactor;
134 double m_maxGyroscopicForce;
135 double m_singleAxisRollingFrictionThreshold;
136
137 int m_numIterations;
138 int m_solverMode;
139 int m_restingContactRestitutionThreshold;
140 int m_minimumSolverBatchSize;
141 int m_splitImpulse;
142 char m_padding[4];
143};
145 struct btContactSolverInfoFloatData
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
152 float m_restitution;
153 float m_maxErrorReduction;
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
159 float m_splitImpulsePenetrationThreshold;
160 float m_splitImpulseTurnErp;
161
162 float m_linearSlop;
163 float m_warmstartingFactor;
164 float m_articulatedWarmstartingFactor;
165 float m_maxGyroscopicForce;
166
167 float m_singleAxisRollingFrictionThreshold;
168 int m_numIterations;
169 int m_solverMode;
170 int m_restingContactRestitutionThreshold;
171
172 int m_minimumSolverBatchSize;
173 int m_splitImpulse;
174
175};
176
177#endif //BT_CONTACT_SOLVER_INFO
btSolverMode
btSolverMode
Definition btContactSolverInfo.h:22
SOLVER_SIMD
@ SOLVER_SIMD
Definition btContactSolverInfo.h:30
SOLVER_DISABLE_IMPLICIT_CONE_FRICTION
@ SOLVER_DISABLE_IMPLICIT_CONE_FRICTION
Definition btContactSolverInfo.h:33
SOLVER_USE_ARTICULATED_WARMSTARTING
@ SOLVER_USE_ARTICULATED_WARMSTARTING
Definition btContactSolverInfo.h:34
SOLVER_CACHE_FRIENDLY
@ SOLVER_CACHE_FRIENDLY
Definition btContactSolverInfo.h:29
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
@ SOLVER_ENABLE_FRICTION_DIRECTION_CACHING
Definition btContactSolverInfo.h:27
SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
@ SOLVER_ALLOW_ZERO_LENGTH_FRICTION_DIRECTIONS
Definition btContactSolverInfo.h:32
SOLVER_FRICTION_SEPARATE
@ SOLVER_FRICTION_SEPARATE
Definition btContactSolverInfo.h:24
SOLVER_USE_WARMSTARTING
@ SOLVER_USE_WARMSTARTING
Definition btContactSolverInfo.h:25
SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
@ SOLVER_INTERLEAVE_CONTACT_AND_FRICTION_CONSTRAINTS
Definition btContactSolverInfo.h:31
SOLVER_RANDMIZE_ORDER
@ SOLVER_RANDMIZE_ORDER
Definition btContactSolverInfo.h:23
SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
@ SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION
Definition btContactSolverInfo.h:28
SOLVER_USE_2_FRICTION_DIRECTIONS
@ SOLVER_USE_2_FRICTION_DIRECTIONS
Definition btContactSolverInfo.h:26
btScalar.h
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
btContactSolverInfoData
Definition btContactSolverInfo.h:38
btContactSolverInfoData::m_jointFeedbackInJointFrame
bool m_jointFeedbackInJointFrame
Definition btContactSolverInfo.h:70
btContactSolverInfoData::m_damping
btScalar m_damping
Definition btContactSolverInfo.h:40
btContactSolverInfoData::m_numNonContactInnerIterations
int m_numNonContactInnerIterations
Definition btContactSolverInfo.h:72
btContactSolverInfoData::m_deformable_maxErrorReduction
btScalar m_deformable_maxErrorReduction
Definition btContactSolverInfo.h:51
btContactSolverInfoData::m_reportSolverAnalytics
int m_reportSolverAnalytics
Definition btContactSolverInfo.h:71
btContactSolverInfoData::m_friction
btScalar m_friction
Definition btContactSolverInfo.h:41
btContactSolverInfoData::m_numIterations
int m_numIterations
Definition btContactSolverInfo.h:44
btContactSolverInfoData::m_jointFeedbackInWorldSpace
bool m_jointFeedbackInWorldSpace
Definition btContactSolverInfo.h:69
btContactSolverInfoData::m_maxErrorReduction
btScalar m_maxErrorReduction
Definition btContactSolverInfo.h:45
btContactSolverInfoData::m_deformable_erp
btScalar m_deformable_erp
Definition btContactSolverInfo.h:49
btContactSolverInfoData::m_sor
btScalar m_sor
Definition btContactSolverInfo.h:46
btContactSolverInfoData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition btContactSolverInfo.h:63
btContactSolverInfoData::m_splitImpulsePenetrationThreshold
btScalar m_splitImpulsePenetrationThreshold
Definition btContactSolverInfo.h:57
btContactSolverInfoData::m_splitImpulse
int m_splitImpulse
Definition btContactSolverInfo.h:56
btContactSolverInfoData::m_solverMode
int m_solverMode
Definition btContactSolverInfo.h:62
btContactSolverInfoData::m_frictionERP
btScalar m_frictionERP
Definition btContactSolverInfo.h:53
btContactSolverInfoData::m_leastSquaresResidualThreshold
btScalar m_leastSquaresResidualThreshold
Definition btContactSolverInfo.h:67
btContactSolverInfoData::m_warmstartingFactor
btScalar m_warmstartingFactor
Definition btContactSolverInfo.h:60
btContactSolverInfoData::m_maxGyroscopicForce
btScalar m_maxGyroscopicForce
Definition btContactSolverInfo.h:65
btContactSolverInfoData::m_restitution
btScalar m_restitution
Definition btContactSolverInfo.h:43
btContactSolverInfoData::m_linearSlop
btScalar m_linearSlop
Definition btContactSolverInfo.h:59
btContactSolverInfoData::m_articulatedWarmstartingFactor
btScalar m_articulatedWarmstartingFactor
Definition btContactSolverInfo.h:61
btContactSolverInfoData::m_deformable_cfm
btScalar m_deformable_cfm
Definition btContactSolverInfo.h:50
btContactSolverInfoData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition btContactSolverInfo.h:64
btContactSolverInfoData::m_restitutionVelocityThreshold
btScalar m_restitutionVelocityThreshold
Definition btContactSolverInfo.h:68
btContactSolverInfoData::m_globalCfm
btScalar m_globalCfm
Definition btContactSolverInfo.h:52
btContactSolverInfoData::m_frictionCFM
btScalar m_frictionCFM
Definition btContactSolverInfo.h:54
btContactSolverInfoData::m_tau
btScalar m_tau
Definition btContactSolverInfo.h:39
btContactSolverInfoData::m_splitImpulseTurnErp
btScalar m_splitImpulseTurnErp
Definition btContactSolverInfo.h:58
btContactSolverInfoData::m_erp
btScalar m_erp
Definition btContactSolverInfo.h:47
btContactSolverInfoData::m_timeStep
btScalar m_timeStep
Definition btContactSolverInfo.h:42
btContactSolverInfoData::m_singleAxisRollingFrictionThreshold
btScalar m_singleAxisRollingFrictionThreshold
Definition btContactSolverInfo.h:66
btContactSolverInfoData::m_erp2
btScalar m_erp2
Definition btContactSolverInfo.h:48
btContactSolverInfoDoubleData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btContactSolverInfo.h:118
btContactSolverInfoDoubleData::m_friction
double m_friction
Definition btContactSolverInfo.h:121
btContactSolverInfoDoubleData::m_maxErrorReduction
double m_maxErrorReduction
Definition btContactSolverInfo.h:124
btContactSolverInfoDoubleData::m_articulatedWarmstartingFactor
double m_articulatedWarmstartingFactor
Definition btContactSolverInfo.h:133
btContactSolverInfoDoubleData::m_numIterations
int m_numIterations
Definition btContactSolverInfo.h:137
btContactSolverInfoDoubleData::m_linearSlop
double m_linearSlop
Definition btContactSolverInfo.h:131
btContactSolverInfoDoubleData::m_globalCfm
double m_globalCfm
Definition btContactSolverInfo.h:128
btContactSolverInfoDoubleData::m_timeStep
double m_timeStep
Definition btContactSolverInfo.h:122
btContactSolverInfoDoubleData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition btContactSolverInfo.h:140
btContactSolverInfoDoubleData::m_erp
double m_erp
Definition btContactSolverInfo.h:126
btContactSolverInfoDoubleData::m_splitImpulse
int m_splitImpulse
Definition btContactSolverInfo.h:141
btContactSolverInfoDoubleData::m_splitImpulsePenetrationThreshold
double m_splitImpulsePenetrationThreshold
Definition btContactSolverInfo.h:129
btContactSolverInfoDoubleData::m_damping
double m_damping
Definition btContactSolverInfo.h:120
btContactSolverInfoDoubleData::m_tau
double m_tau
Definition btContactSolverInfo.h:119
btContactSolverInfoDoubleData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition btContactSolverInfo.h:139
btContactSolverInfoDoubleData::m_warmstartingFactor
double m_warmstartingFactor
Definition btContactSolverInfo.h:132
btContactSolverInfoDoubleData::m_singleAxisRollingFrictionThreshold
double m_singleAxisRollingFrictionThreshold
it is only used for 'explicit' version of gyroscopic force
Definition btContactSolverInfo.h:135
btContactSolverInfoDoubleData::m_sor
double m_sor
Definition btContactSolverInfo.h:125
btContactSolverInfoDoubleData::m_splitImpulseTurnErp
double m_splitImpulseTurnErp
Definition btContactSolverInfo.h:130
btContactSolverInfoDoubleData::m_restitution
double m_restitution
Definition btContactSolverInfo.h:123
btContactSolverInfoDoubleData::m_erp2
double m_erp2
Definition btContactSolverInfo.h:127
btContactSolverInfoDoubleData::m_solverMode
int m_solverMode
Definition btContactSolverInfo.h:138
btContactSolverInfoDoubleData::m_padding
char m_padding[4]
Definition btContactSolverInfo.h:142
btContactSolverInfoDoubleData::m_maxGyroscopicForce
double m_maxGyroscopicForce
Definition btContactSolverInfo.h:134
btContactSolverInfoFloatData
do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
Definition btContactSolverInfo.h:146
btContactSolverInfoFloatData::m_linearSlop
float m_linearSlop
Definition btContactSolverInfo.h:162
btContactSolverInfoFloatData::m_splitImpulsePenetrationThreshold
float m_splitImpulsePenetrationThreshold
Definition btContactSolverInfo.h:159
btContactSolverInfoFloatData::m_splitImpulse
int m_splitImpulse
Definition btContactSolverInfo.h:173
btContactSolverInfoFloatData::m_articulatedWarmstartingFactor
float m_articulatedWarmstartingFactor
Definition btContactSolverInfo.h:164
btContactSolverInfoFloatData::m_maxErrorReduction
float m_maxErrorReduction
Definition btContactSolverInfo.h:153
btContactSolverInfoFloatData::m_erp2
float m_erp2
Definition btContactSolverInfo.h:157
btContactSolverInfoFloatData::m_restingContactRestitutionThreshold
int m_restingContactRestitutionThreshold
Definition btContactSolverInfo.h:170
btContactSolverInfoFloatData::m_warmstartingFactor
float m_warmstartingFactor
Definition btContactSolverInfo.h:163
btContactSolverInfoFloatData::m_damping
float m_damping
Definition btContactSolverInfo.h:148
btContactSolverInfoFloatData::m_restitution
float m_restitution
Definition btContactSolverInfo.h:152
btContactSolverInfoFloatData::m_minimumSolverBatchSize
int m_minimumSolverBatchSize
Definition btContactSolverInfo.h:172
btContactSolverInfoFloatData::m_sor
float m_sor
Definition btContactSolverInfo.h:154
btContactSolverInfoFloatData::m_timeStep
float m_timeStep
Definition btContactSolverInfo.h:150
btContactSolverInfoFloatData::m_friction
float m_friction
Definition btContactSolverInfo.h:149
btContactSolverInfoFloatData::m_maxGyroscopicForce
float m_maxGyroscopicForce
Definition btContactSolverInfo.h:165
btContactSolverInfoFloatData::m_tau
float m_tau
Definition btContactSolverInfo.h:147
btContactSolverInfoFloatData::m_erp
float m_erp
Definition btContactSolverInfo.h:155
btContactSolverInfoFloatData::m_splitImpulseTurnErp
float m_splitImpulseTurnErp
Definition btContactSolverInfo.h:160
btContactSolverInfoFloatData::m_solverMode
int m_solverMode
Definition btContactSolverInfo.h:169
btContactSolverInfoFloatData::m_numIterations
int m_numIterations
Definition btContactSolverInfo.h:168
btContactSolverInfoFloatData::m_singleAxisRollingFrictionThreshold
float m_singleAxisRollingFrictionThreshold
Definition btContactSolverInfo.h:167
btContactSolverInfoFloatData::m_globalCfm
float m_globalCfm
Definition btContactSolverInfo.h:158
btContactSolverInfo
Definition btContactSolverInfo.h:76
btContactSolverInfo::btContactSolverInfo
btContactSolverInfo()
Definition btContactSolverInfo.h:77