| 1 | /* |
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| 2 | Bullet Continuous Collision Detection and Physics Library |
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| 3 | Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 4 | |
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| 5 | This software is provided 'as-is', without any express or implied warranty. |
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| 6 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 7 | Permission is granted to anyone to use this software for any purpose, |
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| 8 | including commercial applications, and to alter it and redistribute it freely, |
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| 9 | subject to the following restrictions: |
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| 10 | |
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| 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. |
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| 12 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 13 | 3. This notice may not be removed or altered from any source distribution. |
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| 14 | */ |
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| 15 | |
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| 16 | #ifndef CONTACT_SOLVER_INFO |
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| 17 | #define CONTACT_SOLVER_INFO |
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| 18 | |
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| 19 | enum btSolverMode |
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| 20 | { |
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| 21 | SOLVER_RANDMIZE_ORDER = 1, |
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| 22 | SOLVER_FRICTION_SEPARATE = 2, |
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| 23 | SOLVER_USE_WARMSTARTING = 4, |
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| 24 | SOLVER_CACHE_FRIENDLY = 8 |
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| 25 | }; |
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| 26 | |
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| 27 | struct btContactSolverInfoData |
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| 28 | { |
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| 29 | |
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| 30 | |
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| 31 | btScalar m_tau; |
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| 32 | btScalar m_damping; |
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| 33 | btScalar m_friction; |
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| 34 | btScalar m_timeStep; |
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| 35 | btScalar m_restitution; |
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| 36 | int m_numIterations; |
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| 37 | btScalar m_maxErrorReduction; |
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| 38 | btScalar m_sor; |
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| 39 | btScalar m_erp;//used as Baumgarte factor |
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| 40 | btScalar m_erp2;//used in Split Impulse |
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| 41 | int m_splitImpulse; |
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| 42 | btScalar m_splitImpulsePenetrationThreshold; |
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| 43 | btScalar m_linearSlop; |
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| 44 | btScalar m_warmstartingFactor; |
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| 45 | |
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| 46 | int m_solverMode; |
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| 47 | int m_restingContactRestitutionThreshold; |
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| 48 | |
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| 49 | |
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| 50 | }; |
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| 51 | |
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| 52 | struct btContactSolverInfo : public btContactSolverInfoData |
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| 53 | { |
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| 54 | |
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| 55 | |
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| 56 | |
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| 57 | inline btContactSolverInfo() |
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| 58 | { |
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| 59 | m_tau = btScalar(0.6); |
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| 60 | m_damping = btScalar(1.0); |
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| 61 | m_friction = btScalar(0.3); |
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| 62 | m_restitution = btScalar(0.); |
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| 63 | m_maxErrorReduction = btScalar(20.); |
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| 64 | m_numIterations = 10; |
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| 65 | m_erp = btScalar(0.2); |
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| 66 | m_erp2 = btScalar(0.1); |
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| 67 | m_sor = btScalar(1.3); |
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| 68 | m_splitImpulse = false; |
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| 69 | m_splitImpulsePenetrationThreshold = -0.02f; |
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| 70 | m_linearSlop = btScalar(0.0); |
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| 71 | m_warmstartingFactor=btScalar(0.85); |
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| 72 | m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING; |
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| 73 | m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution |
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| 74 | } |
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| 75 | }; |
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| 76 | |
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| 77 | #endif //CONTACT_SOLVER_INFO |
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