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Expose various advanced friction options to the developer, and use a higher-quality friction model by default, to match ODE quickstep constraint solver.

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Thanks to Martijn Reuvers for bringing this up, and reproduction case.
See issue here: http://code.google.com/p/bullet/issues/detail?id=177
This commit is contained in:
erwin.coumans
2009-01-20 01:21:48 +00:00
parent 987b5cbfb1
commit 57fb21879b
2 changed files with 149 additions and 135 deletions
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9
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -22,9 +22,12 @@ enum btSolverMode
SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4,
SOLVER_USE_FRICTION_WARMSTARTING = 8,
SOLVER_CACHE_FRIENDLY = 16,
SOLVER_SIMD = 32,//enabled for Windows, the solver innerloop is branchless SIMD, 40% faster than FPU/scalar version
SOLVER_CUDA = 64 //will be open sourced during Game Developers Conference 2009. Much faster.
SOLVER_USE_1_FRICTION_DIRECTION = 16,
SOLVER_ENABLE_FRICTION_DIRECTION_CACHING = 32,
SOLVER_ENABLE_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.
};
struct btContactSolverInfoData