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Differential D1739 Diff 5899 extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

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extern/bullet2/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

Show First 20 Lines • Show All 83 Lines • ▼ Show 20 Lines inline btContactSolverInfo()
m_splitImpulsePenetrationThreshold = -.04f; m_splitImpulsePenetrationThreshold = -.04f;
m_splitImpulseTurnErp = 0.1f; m_splitImpulseTurnErp = 0.1f;
m_linearSlop = btScalar(0.0); m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85); m_warmstartingFactor=btScalar(0.85);
//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; //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;
m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
m_restingContactRestitutionThreshold = 2;//unused as of 2.81 m_restingContactRestitutionThreshold = 2;//unused as of 2.81
m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
m_maxGyroscopicForce = 100.f; ///only used to clamp forces for bodies that have their BT_ENABLE_GYROPSCOPIC_FORCE flag set (using btRigidBody::setFlag) m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows. m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
} }
}; };
///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64 ///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
struct btContactSolverInfoDoubleData struct btContactSolverInfoDoubleData
{ {
double m_tau; double m_tau;
double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'. double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
double m_friction; double m_friction;
double m_timeStep; double m_timeStep;
double m_restitution; double m_restitution;
double m_maxErrorReduction; double m_maxErrorReduction;
double m_sor; double m_sor;
double m_erp;//used as Baumgarte factor double m_erp;//used as Baumgarte factor
double m_erp2;//used in Split Impulse double m_erp2;//used in Split Impulse
double m_globalCfm;//constraint force mixing double m_globalCfm;//constraint force mixing
double m_splitImpulsePenetrationThreshold; double m_splitImpulsePenetrationThreshold;
double m_splitImpulseTurnErp; double m_splitImpulseTurnErp;
double m_linearSlop; double m_linearSlop;
double m_warmstartingFactor; double m_warmstartingFactor;
double m_maxGyroscopicForce; double m_maxGyroscopicForce;///it is only used for 'explicit' version of gyroscopic force
double m_singleAxisRollingFrictionThreshold; double m_singleAxisRollingFrictionThreshold;
int m_numIterations; int m_numIterations;
int m_solverMode; int m_solverMode;
int m_restingContactRestitutionThreshold; int m_restingContactRestitutionThreshold;
int m_minimumSolverBatchSize; int m_minimumSolverBatchSize;
int m_splitImpulse; int m_splitImpulse;
char m_padding[4]; char m_padding[4];
Show All 37 Lines