Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -18,7 +18,7 @@ subject to the following restrictions:
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#include "LinearMath/btScalar.h"
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enum btSolverMode
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enum btSolverMode
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{
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SOLVER_RANDMIZE_ORDER = 1,
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SOLVER_FRICTION_SEPARATE = 2,
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@@ -35,134 +35,125 @@ enum btSolverMode
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struct btContactSolverInfoData
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{
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btScalar m_tau;
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btScalar m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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btScalar m_friction;
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btScalar m_timeStep;
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btScalar m_restitution;
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int m_numIterations;
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btScalar m_maxErrorReduction;
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btScalar m_sor; //successive over-relaxation term
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btScalar m_erp; //error reduction for non-contact constraints
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btScalar m_erp2; //error reduction for contact constraints
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btScalar m_globalCfm; //constraint force mixing for contacts and non-contacts
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btScalar m_frictionERP; //error reduction for friction constraints
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btScalar m_frictionCFM; //constraint force mixing for friction constraints
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btScalar m_tau;
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btScalar m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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btScalar m_friction;
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btScalar m_timeStep;
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btScalar m_restitution;
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int m_numIterations;
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btScalar m_maxErrorReduction;
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btScalar m_sor;//successive over-relaxation term
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btScalar m_erp;//error reduction for non-contact constraints
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btScalar m_erp2;//error reduction for contact constraints
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btScalar m_globalCfm;//constraint force mixing for contacts and non-contacts
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btScalar m_frictionERP;//error reduction for friction constraints
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btScalar m_frictionCFM;//constraint force mixing for friction constraints
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int m_splitImpulse;
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btScalar m_splitImpulsePenetrationThreshold;
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btScalar m_splitImpulseTurnErp;
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btScalar m_linearSlop;
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btScalar m_warmstartingFactor;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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btScalar m_maxGyroscopicForce;
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btScalar m_singleAxisRollingFrictionThreshold;
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btScalar m_leastSquaresResidualThreshold;
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btScalar m_restitutionVelocityThreshold;
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int m_splitImpulse;
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btScalar m_splitImpulsePenetrationThreshold;
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btScalar m_splitImpulseTurnErp;
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btScalar m_linearSlop;
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btScalar m_warmstartingFactor;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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btScalar m_maxGyroscopicForce;
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btScalar m_singleAxisRollingFrictionThreshold;
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btScalar m_leastSquaresResidualThreshold;
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btScalar m_restitutionVelocityThreshold;
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};
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struct btContactSolverInfo : public btContactSolverInfoData
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{
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inline btContactSolverInfo()
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{
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m_tau = btScalar(0.6);
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m_damping = btScalar(1.0);
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m_friction = btScalar(0.3);
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m_timeStep = btScalar(1.f/60.f);
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m_timeStep = btScalar(1.f / 60.f);
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m_restitution = btScalar(0.);
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m_maxErrorReduction = btScalar(20.);
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m_numIterations = 10;
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m_erp = btScalar(0.2);
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m_erp2 = btScalar(0.2);
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m_globalCfm = btScalar(0.);
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m_frictionERP = btScalar(0.2);//positional friction 'anchors' are disabled by default
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m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
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m_frictionCFM = btScalar(0.);
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m_sor = btScalar(1.);
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m_splitImpulse = true;
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m_splitImpulsePenetrationThreshold = -.04f;
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m_splitImpulseTurnErp = 0.1f;
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m_linearSlop = btScalar(0.0);
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m_warmstartingFactor=btScalar(0.85);
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m_warmstartingFactor = btScalar(0.85);
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//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;
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m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD;// | SOLVER_RANDMIZE_ORDER;
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m_restingContactRestitutionThreshold = 2;//unused as of 2.81
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m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
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m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
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m_singleAxisRollingFrictionThreshold = 1e30f;///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
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m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER;
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m_restingContactRestitutionThreshold = 2; //unused as of 2.81
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m_minimumSolverBatchSize = 128; //try to combine islands until the amount of constraints reaches this limit
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m_maxGyroscopicForce = 100.f; ///it is only used for 'explicit' version of gyroscopic force
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m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
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m_leastSquaresResidualThreshold = 0.f;
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m_restitutionVelocityThreshold = 0.2f;//if the relative velocity is below this threshold, there is zero restitution
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m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
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}
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btContactSolverInfoDoubleData
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{
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double m_tau;
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double m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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double m_friction;
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double m_timeStep;
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double m_restitution;
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double m_maxErrorReduction;
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double m_sor;
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double m_erp;//used as Baumgarte factor
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double m_erp2;//used in Split Impulse
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double m_globalCfm;//constraint force mixing
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double m_splitImpulsePenetrationThreshold;
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double m_splitImpulseTurnErp;
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double m_linearSlop;
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double m_warmstartingFactor;
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double m_maxGyroscopicForce;///it is only used for 'explicit' version of gyroscopic force
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double m_singleAxisRollingFrictionThreshold;
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int m_numIterations;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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int m_splitImpulse;
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char m_padding[4];
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double m_tau;
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double m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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double m_friction;
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double m_timeStep;
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double m_restitution;
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double m_maxErrorReduction;
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double m_sor;
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double m_erp; //used as Baumgarte factor
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double m_erp2; //used in Split Impulse
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double m_globalCfm; //constraint force mixing
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double m_splitImpulsePenetrationThreshold;
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double m_splitImpulseTurnErp;
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double m_linearSlop;
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double m_warmstartingFactor;
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double m_maxGyroscopicForce; ///it is only used for 'explicit' version of gyroscopic force
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double m_singleAxisRollingFrictionThreshold;
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int m_numIterations;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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int m_splitImpulse;
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char m_padding[4];
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};
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///do not change those serialization structures, it requires an updated sBulletDNAstr/sBulletDNAstr64
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struct btContactSolverInfoFloatData
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{
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float m_tau;
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float m_damping;//global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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float m_friction;
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float m_timeStep;
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float m_tau;
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float m_damping; //global non-contact constraint damping, can be locally overridden by constraints during 'getInfo2'.
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float m_friction;
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float m_timeStep;
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float m_restitution;
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float m_maxErrorReduction;
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float m_sor;
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float m_erp;//used as Baumgarte factor
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float m_restitution;
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float m_maxErrorReduction;
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float m_sor;
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float m_erp; //used as Baumgarte factor
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float m_erp2;//used in Split Impulse
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float m_globalCfm;//constraint force mixing
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float m_splitImpulsePenetrationThreshold;
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float m_splitImpulseTurnErp;
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float m_erp2; //used in Split Impulse
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float m_globalCfm; //constraint force mixing
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float m_splitImpulsePenetrationThreshold;
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float m_splitImpulseTurnErp;
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float m_linearSlop;
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float m_warmstartingFactor;
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float m_maxGyroscopicForce;
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float m_singleAxisRollingFrictionThreshold;
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float m_linearSlop;
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float m_warmstartingFactor;
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float m_maxGyroscopicForce;
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float m_singleAxisRollingFrictionThreshold;
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int m_numIterations;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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int m_numIterations;
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int m_solverMode;
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int m_restingContactRestitutionThreshold;
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int m_minimumSolverBatchSize;
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int m_splitImpulse;
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char m_padding[4];
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int m_splitImpulse;
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char m_padding[4];
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};
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#endif //BT_CONTACT_SOLVER_INFO
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#endif //BT_CONTACT_SOLVER_INFO
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