147 lines
6.5 KiB
C++
147 lines
6.5 KiB
C++
/********************************************************************************
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* ReactPhysics3D physics library, http://www.reactphysics3d.com *
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* Copyright (c) 2010-2015 Daniel Chappuis *
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*********************************************************************************
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* *
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* This software is provided 'as-is', without any express or implied warranty. *
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* In no event will the authors be held liable for any damages arising from the *
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* use of this software. *
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* *
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* Permission is granted to anyone to use this software for any purpose, *
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* including commercial applications, and to alter it and redistribute it *
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* freely, subject to the following restrictions: *
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* *
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* 1. The origin of this software must not be misrepresented; you must not claim *
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* that you wrote the original software. If you use this software in a *
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* product, an acknowledgment in the product documentation would be *
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* appreciated but is not required. *
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* *
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* 2. Altered source versions must be plainly marked as such, and must not be *
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* misrepresented as being the original software. *
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* *
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* 3. This notice may not be removed or altered from any source distribution. *
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* *
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********************************************************************************/
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#ifndef REACTPHYSICS3D_CONFIGURATION_H
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#define REACTPHYSICS3D_CONFIGURATION_H
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// Libraries
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#include <limits>
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#include <cfloat>
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#include <utility>
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#include "decimal.h"
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// Windows platform
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#if defined(WIN32) ||defined(_WIN32) || defined(_WIN64) ||defined(__WIN32__) || defined(__WINDOWS__)
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#define WINDOWS_OS
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#elif defined(__APPLE__) // Apple platform
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#define APPLE_OS
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#elif defined(__linux__) || defined(linux) || defined(__linux) // Linux platform
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#define LINUX_OS
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#endif
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/// Namespace reactphysics3d
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namespace reactphysics3d {
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// ------------------- Type definitions ------------------- //
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typedef unsigned int uint;
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typedef long unsigned int luint;
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typedef luint bodyindex;
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typedef std::pair<bodyindex, bodyindex> bodyindexpair;
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typedef signed short int16;
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typedef signed int int32;
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typedef unsigned short uint16;
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typedef unsigned int uint32;
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// ------------------- Enumerations ------------------- //
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/// Position correction technique used in the constraint solver (for joints).
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/// BAUMGARTE_JOINTS : Faster but can be innacurate in some situations.
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/// NON_LINEAR_GAUSS_SEIDEL : Slower but more precise. This is the option used by default.
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enum JointsPositionCorrectionTechnique {BAUMGARTE_JOINTS, NON_LINEAR_GAUSS_SEIDEL};
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/// Position correction technique used in the contact solver (for contacts)
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/// BAUMGARTE_CONTACTS : Faster but can be innacurate and can lead to unexpected bounciness
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/// in some situations (due to error correction factor being added to
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/// the bodies momentum).
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/// SPLIT_IMPULSES : A bit slower but the error correction factor is not added to the
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/// bodies momentum. This is the option used by default.
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enum ContactsPositionCorrectionTechnique {BAUMGARTE_CONTACTS, SPLIT_IMPULSES};
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// ------------------- Constants ------------------- //
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/// Smallest decimal value (negative)
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const decimal DECIMAL_SMALLEST = - std::numeric_limits<decimal>::max();
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/// Maximum decimal value
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const decimal DECIMAL_LARGEST = std::numeric_limits<decimal>::max();
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/// Machine epsilon
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const decimal MACHINE_EPSILON = std::numeric_limits<decimal>::epsilon();
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/// Pi constant
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const decimal PI = decimal(3.14159265);
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/// 2*Pi constant
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const decimal PI_TIMES_2 = decimal(6.28318530);
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/// Default friction coefficient for a rigid body
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const decimal DEFAULT_FRICTION_COEFFICIENT = decimal(0.3);
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/// Default bounciness factor for a rigid body
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const decimal DEFAULT_BOUNCINESS = decimal(0.5);
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/// True if the spleeping technique is enabled
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const bool SPLEEPING_ENABLED = true;
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/// Object margin for collision detection in meters (for the GJK-EPA Algorithm)
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const decimal OBJECT_MARGIN = decimal(0.04);
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/// Distance threshold for two contact points for a valid persistent contact (in meters)
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const decimal PERSISTENT_CONTACT_DIST_THRESHOLD = decimal(0.03);
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/// Velocity threshold for contact velocity restitution
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const decimal RESTITUTION_VELOCITY_THRESHOLD = decimal(1.0);
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/// Number of iterations when solving the velocity constraints of the Sequential Impulse technique
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const uint DEFAULT_VELOCITY_SOLVER_NB_ITERATIONS = 10;
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/// Number of iterations when solving the position constraints of the Sequential Impulse technique
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const uint DEFAULT_POSITION_SOLVER_NB_ITERATIONS = 5;
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/// Time (in seconds) that a body must stay still to be considered sleeping
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const float DEFAULT_TIME_BEFORE_SLEEP = 1.0f;
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/// A body with a linear velocity smaller than the sleep linear velocity (in m/s)
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/// might enter sleeping mode.
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const decimal DEFAULT_SLEEP_LINEAR_VELOCITY = decimal(0.02);
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/// A body with angular velocity smaller than the sleep angular velocity (in rad/s)
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/// might enter sleeping mode
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const decimal DEFAULT_SLEEP_ANGULAR_VELOCITY = decimal(3.0 * (PI / 180.0));
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/// In the broad-phase collision detection (dynamic AABB tree), the AABBs are
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/// inflated with a constant gap to allow the collision shape to move a little bit
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/// without triggering a large modification of the tree which can be costly
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const decimal DYNAMIC_TREE_AABB_GAP = decimal(0.1);
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/// In the broad-phase collision detection (dynamic AABB tree), the AABBs are
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/// also inflated in direction of the linear motion of the body by mutliplying the
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/// followin constant with the linear velocity and the elapsed time between two frames.
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const decimal DYNAMIC_TREE_AABB_LIN_GAP_MULTIPLIER = decimal(1.7);
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/// Maximum number of contact manifolds in an overlapping pair that involves two
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/// convex collision shapes.
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const int NB_MAX_CONTACT_MANIFOLDS_CONVEX_SHAPE = 1;
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/// Maximum number of contact manifolds in an overlapping pair that involves at
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/// least one concave collision shape.
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const int NB_MAX_CONTACT_MANIFOLDS_CONCAVE_SHAPE = 3;
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}
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#endif
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