[1963] | 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 CONTACT_SOLVER_INFO |
---|
| 17 | #define CONTACT_SOLVER_INFO |
---|
| 18 | |
---|
| 19 | enum btSolverMode |
---|
| 20 | { |
---|
| 21 | SOLVER_RANDMIZE_ORDER = 1, |
---|
| 22 | SOLVER_FRICTION_SEPARATE = 2, |
---|
| 23 | SOLVER_USE_WARMSTARTING = 4, |
---|
| 24 | SOLVER_CACHE_FRIENDLY = 8 |
---|
| 25 | }; |
---|
| 26 | |
---|
| 27 | struct btContactSolverInfoData |
---|
| 28 | { |
---|
| 29 | |
---|
| 30 | |
---|
| 31 | btScalar m_tau; |
---|
| 32 | btScalar m_damping; |
---|
| 33 | btScalar m_friction; |
---|
| 34 | btScalar m_timeStep; |
---|
| 35 | btScalar m_restitution; |
---|
| 36 | int m_numIterations; |
---|
| 37 | btScalar m_maxErrorReduction; |
---|
| 38 | btScalar m_sor; |
---|
| 39 | btScalar m_erp;//used as Baumgarte factor |
---|
| 40 | btScalar m_erp2;//used in Split Impulse |
---|
| 41 | int m_splitImpulse; |
---|
| 42 | btScalar m_splitImpulsePenetrationThreshold; |
---|
| 43 | btScalar m_linearSlop; |
---|
| 44 | btScalar m_warmstartingFactor; |
---|
| 45 | |
---|
| 46 | int m_solverMode; |
---|
| 47 | |
---|
| 48 | |
---|
| 49 | }; |
---|
| 50 | |
---|
| 51 | struct btContactSolverInfo : public btContactSolverInfoData |
---|
| 52 | { |
---|
| 53 | |
---|
| 54 | |
---|
| 55 | |
---|
| 56 | inline btContactSolverInfo() |
---|
| 57 | { |
---|
| 58 | m_tau = btScalar(0.6); |
---|
| 59 | m_damping = btScalar(1.0); |
---|
| 60 | m_friction = btScalar(0.3); |
---|
| 61 | m_restitution = btScalar(0.); |
---|
| 62 | m_maxErrorReduction = btScalar(20.); |
---|
| 63 | m_numIterations = 10; |
---|
| 64 | m_erp = btScalar(0.2); |
---|
| 65 | m_erp2 = btScalar(0.1); |
---|
| 66 | m_sor = btScalar(1.3); |
---|
| 67 | m_splitImpulse = false; |
---|
| 68 | m_splitImpulsePenetrationThreshold = -0.02f; |
---|
| 69 | m_linearSlop = btScalar(0.0); |
---|
| 70 | m_warmstartingFactor=btScalar(0.85); |
---|
| 71 | m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING; |
---|
| 72 | } |
---|
| 73 | }; |
---|
| 74 | |
---|
| 75 | #endif //CONTACT_SOLVER_INFO |
---|