reactphysics3d/src/configuration.h

/********************************************************************************
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/      *
* Copyright (c) 2010-2012 Daniel Chappuis                                       *
*********************************************************************************
*                                                                               *
* This software is provided 'as-is', without any express or implied warranty.   *
* In no event will the authors be held liable for any damages arising from the  *
* use of this software.                                                         *
*                                                                               *
* Permission is granted to anyone to use this software for any purpose,         *
* including commercial applications, and to alter it and redistribute it        *
* freely, subject to the following restrictions:                                *
*                                                                               *
* 1. The origin of this software must not be misrepresented; you must not claim *
*    that you wrote the original software. If you use this software in a        *
*    product, an acknowledgment in the product documentation would be           *
*    appreciated but is not required.                                           *
*                                                                               *
* 2. Altered source versions must be plainly marked as such, and must not be    *
*    misrepresented as being the original software.                             *
*                                                                               *
* 3. This notice may not be removed or altered from any source distribution.    *
*                                                                               *
********************************************************************************/

#ifndef CONFIGURATION_H
#define	CONFIGURATION_H

// Libraries
#include <limits>
#include <cfloat>
#include <utility>
#include "decimal.h"

// Windows platform
#if defined(WIN32) ||defined(_WIN32) || defined(_WIN64) ||defined(__WIN32__) || defined(__WINDOWS__)
    #define WINDOWS_OS
#elif defined(__APPLE__)     // Apple platform
    #define APPLE_OS
#elif defined(__linux__) || defined(linux) || defined(__linux)    // Linux platform
    #define LINUX_OS
#endif

// Namespace reactphysics3d
namespace reactphysics3d {

// ------------------- Type definitions ------------------- //

typedef unsigned int uint;
typedef long unsigned int luint;
typedef short unsigned int bodyindex;
typedef std::pair<bodyindex, bodyindex> bodyindexpair;

// ------------------- Constants ------------------- //

const reactphysics3d::decimal DECIMAL_SMALLEST = - std::numeric_limits<decimal>::max();

// Maximum decimal value
const reactphysics3d::decimal DECIMAL_LARGEST = std::numeric_limits<decimal>::max();

// Machine epsilon
const reactphysics3d::decimal MACHINE_EPSILON = std::numeric_limits<decimal>::epsilon();

// Infinity
const reactphysics3d::decimal DECIMAL_INFINITY = std::numeric_limits<decimal>::infinity();

// Pi constant
const reactphysics3d::decimal PI = 3.14159265;

// Default internal constant timestep in seconds
const reactphysics3d::decimal DEFAULT_TIMESTEP = 1.0 / 60.0;

// True if the deactivation (sleeping) of inactive bodies is enabled
const bool DEACTIVATION_ENABLED = true;

// // Object margin for collision detection in cm (For GJK-EPA Algorithm)
const reactphysics3d::decimal OBJECT_MARGIN = 0.04;

// Friction coefficient
const reactphysics3d::decimal FRICTION_COEFFICIENT = 0.4;

// Distance threshold for two contact points for a valid persistent contact
const reactphysics3d::decimal PERSISTENT_CONTACT_DIST_THRESHOLD = 0.02;

// Maximum number of bodies
const int NB_MAX_BODIES = 100000;

// Maximum number of constraints
const int NB_MAX_CONSTRAINTS = 100000;

// Number of iterations when solving a LCP problem
const uint DEFAULT_LCP_ITERATIONS = 15;

// Number of iterations when solving a LCP problem for error correction
const uint DEFAULT_LCP_ITERATIONS_ERROR_CORRECTION = 5;

// True if the error correction projection (first order world) is active in the constraint solver
const bool ERROR_CORRECTION_PROJECTION_ENABLED = true;

// Contacts with penetration depth (in meters) larger that this use error correction with projection
const reactphysics3d::decimal PENETRATION_DEPTH_THRESHOLD_ERROR_CORRECTION = 0.20;

}

#endif