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+ improved split impulse constraint solver option

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+ improved friction warm starting
+ made constraint solver configuration more consistent (moved m_solverMode into btContactSolverInfo)
+ reset timing in CDTestFramework after initialization (SAP init destorts timings)
+ make it easier to change default sizes for stack allocator in btDefaultCollisionConfiguration
This commit is contained in:
erwin.coumans
2008-05-29 03:33:32 +00:00
parent 6457f5a961
commit d49aeb9dff
25 changed files with 386 additions and 149 deletions
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26
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -16,8 +16,18 @@ subject to the following restrictions:
#ifndef CONTACT_SOLVER_INFO
#define CONTACT_SOLVER_INFO
enum btSolverMode
{
SOLVER_RANDMIZE_ORDER = 1,
SOLVER_FRICTION_SEPARATE = 2,
SOLVER_USE_WARMSTARTING = 4,
SOLVER_CACHE_FRIENDLY = 8
};
struct btContactSolverInfoData
{
btScalar m_tau;
btScalar m_damping;
btScalar m_friction;
@@ -27,10 +37,13 @@ struct btContactSolverInfoData
btScalar m_maxErrorReduction;
btScalar m_sor;
btScalar m_erp;//used as Baumgarte factor
bool m_splitImpulse;
btScalar m_erp2;//used in Split Impulse
int m_splitImpulse;
btScalar m_splitImpulsePenetrationThreshold;
btScalar m_linearSlop;
btScalar m_warmstartingFactor;
int m_solverMode;
};
@@ -38,6 +51,8 @@ struct btContactSolverInfoData
struct btContactSolverInfo : public btContactSolverInfoData
{
inline btContactSolverInfo()
{
m_tau = btScalar(0.6);
@@ -47,10 +62,13 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_maxErrorReduction = btScalar(20.);
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.1);
m_sor = btScalar(1.3);
m_splitImpulse = true;
m_splitImpulsePenetrationThreshold = 1.f;
m_linearSlop = 0.0002f;
m_splitImpulse = false;
m_splitImpulsePenetrationThreshold = -0.02f;
m_linearSlop = btScalar(0.0);
m_warmstartingFactor=btScalar(0.85);
m_solverMode = SOLVER_RANDMIZE_ORDER | SOLVER_CACHE_FRIENDLY | SOLVER_USE_WARMSTARTING;
}
};