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App/solver/SolverConfig.h

@@ -0,0 +1,166 @@
+#pragma once
+
+#define ENABLE_SOR_CONSTRAINTS
+#define ENABLE_SOR_COLLISIONS
+#define ENABLE_LOCAL_SOR_MODULATION
+#define ENABLE_HINGE_FRICTION
+#define ENABLE_IMPULSE_CACHE_DAMPING_PER_EQUATION
+//#define ENABLE_SOLVER_PROFILER
+#define ENABLE_SOLVER_DEBUG_SERIALIZER
+//#define MIN_NORM_REPROJECT
+//#define PGS_MIN_NORM
+
+//#define DISABLE_ANGULAR_CONSTRAINTS
+
+namespace RBX
+{
+
+class SolverConfig
+{
+public:
+    enum Type
+    {
+        Type_Default,
+        Type_InconsistencyDetector,
+        Type_PositionalCorrection,
+    };
+    SolverConfig( Type type = Type_Default );
+
+    //
+    // Kernel
+    //
+    unsigned pgsIterations;
+
+    //
+    // Collisions
+    //
+
+    // Minimum normal velocity for restitution to be applied
+    float collisionRestitutionThreshold;
+
+    // Ignore penetrations that are smaller than this parameter
+    float collisionPenetrationMargin;
+
+    // Params for variable penetration margin
+    float collisionPenetrationMarginMax;
+    float collisionPenetrationMarginMin;
+
+    // The max height of a bump that a rolling object (sphere) can have, in proportion to it's size, due to hitting an edge between two primitives.
+    float collisionPenetrationMarginMaxBumpProportions;
+
+    // Damping of the penetration resolution
+    float collisionPenetrationResolutionDamping;
+
+    // The velocity at which the penetration allowed will be minimum
+    float collisionPenetrationVelocityForMinMargin;
+
+    // Threshold tangential velocity between static and dynamic friction
+    float collisionFrictionStaticToDynamicThreshold;
+
+    // Tunning constant for static friction
+    float collisionFrictionStaticScale;
+
+    // Tunning constant for dynamic friction
+    float collisionFrictionDynamicScale;
+
+    //
+    // Align2Axes Constraint
+    //
+
+    // Angular friction velocity stage
+    float align2AxesFrictionConstant;
+
+    // Angular friction position stage
+    float align2AxesPositionStageFrictionConstant;
+
+    // Maximum angle for angular correction in degrees
+    float align2AxesMaxCorrectiveAngle;
+
+    float align2AxesCorrectionDamping;
+
+    //
+    // BallInSocket
+    //
+
+    // Maximum corrective distance
+    float ballInSocketMaxCorrectionByStabilization;
+
+    float ballInSocketCorrectionDamping;
+
+    //
+    // SOR Modulation
+    //
+
+    // Create a common structure for these...
+    // Constraints
+    struct ModulationParams
+    {
+        float thresholdMax;
+        float thresholdMin;
+        float aggressiveValue;
+        float conservativeValue;
+        float easingUpToAggressive;
+        float easingDownToConservative;
+    };
+
+    ModulationParams sorConstraintsModulation;
+    ModulationParams sorCollisionsModulation;
+    ModulationParams cacheVStageModulation;
+    ModulationParams cachePStageModulation;
+
+    //
+    // Stabilization
+    //
+    float stabilizationMassReductionPower;
+    float stabilizationInertiaScale;
+
+    //
+    // Cache
+    //
+    float velCacheDamping;
+    float posCacheDamping;
+    bool constraintCachingEnabled;
+
+    //
+    // Integration
+    //
+    float angularDamping;
+    bool updateSimBodies;
+    bool integrateOnlyPositions;
+
+    //
+    // Block PGS
+    //
+    bool blockPGSEnabled;
+
+    //
+    // SOR
+    //
+    float velocityStageSOREnabled;
+    float positionStageSOREnabled;
+
+    //
+    // Virtual masses
+    //
+    bool virtualMassesEnabled;
+
+    //
+    // Use sim islands
+    //
+    bool useSimIslands;
+
+    //
+    // Conflicting constraints detector
+    //
+    bool inconsistentConstraintDetectorEnabled;
+    unsigned inconsistentConstraintMaxIterations;
+
+    float inconsistentConstraintBallInSocketResidualThreshold;
+    float inconsistentConstraintDeltaThreshold;
+    float inconsistentConstraintAlign2AxesThreshold;
+    float inconsistentConstraintCollisionThreshold;
+    float inconsistentConstraintCollisionBaseThreshold;
+    bool printConvergenceDiagnostics;
+};
+
+}