Changeset 2882 for code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

Timestamp:

Mar 31, 2009, 8:05:51 PM (15 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

File:

• code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h (modified) (3 diffs)

code/trunk/src/bullet/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -23 +23 @@
         SOLVER_USE_WARMSTARTING = 4,
         SOLVER_USE_FRICTION_WARMSTARTING = 8,
-        SOLVER_CACHE_FRIENDLY = 16
+        SOLVER_USE_2_FRICTION_DIRECTIONS = 16,
+        SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
+        SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION = 64,
+        SOLVER_CACHE_FRIENDLY = 128,
+        SOLVER_SIMD = 256,      //enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
+        SOLVER_CUDA = 512       //will be open sourced during Game Developers Conference 2009. Much faster.
 };
 
@@ -40 +45 @@
         btScalar        m_erp;//used as Baumgarte factor
         btScalar        m_erp2;//used in Split Impulse
+        btScalar        m_globalCfm;//constraint force mixing
         int                     m_splitImpulse;
         btScalar        m_splitImpulsePenetrationThreshold;
@@ -66 +72 @@
                 m_erp = btScalar(0.2);
                 m_erp2 = btScalar(0.1);
-                m_sor = btScalar(1.3);
+                m_globalCfm = btScalar(0.);
+                m_sor = btScalar(1.);
                 m_splitImpulse = false;
                 m_splitImpulsePenetrationThreshold = -0.02f;
                 m_linearSlop = btScalar(0.0);
                 m_warmstartingFactor=btScalar(0.85);
-                m_solverMode = SOLVER_CACHE_FRIENDLY |  SOLVER_RANDMIZE_ORDER |  SOLVER_USE_WARMSTARTING;
+                m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD ;//SOLVER_RANDMIZE_ORDER
                 m_restingContactRestitutionThreshold = 2;//resting contact lifetime threshold to disable restitution
         }