PBDCollisionSolverSettings.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
 
namespace Chaos
{
    class FPBDCollisionSolverSettings
    {
    public:
        FPBDCollisionSolverSettings()
            : MaxPushOutVelocity(0)
            , DepenetrationVelocity(0)
            , NumPositionFrictionIterations(4)
            , NumVelocityFrictionIterations(1)
            , NumPositionShockPropagationIterations(3)
            , NumVelocityShockPropagationIterations(2)
        {
        }
 
        // Maximum speed at which two objects can depenetrate (actually, how much relative velocity can be added
        // to a contact per frame when depentrating. Stacks and deep penetrations can lead to larger velocities)
        // A value of zero means unlimited.
        FReal MaxPushOutVelocity;
 
        // The speed at which initially-overlapping objects depentrate.
        // This value is used when particles do not provide an override for their MaxDepenetrationVelocity.
        FRealSingle DepenetrationVelocity;
 
        // How many of the position iterations should run static/dynamic friction
        int32 NumPositionFrictionIterations;
 
        // How many of the velocity iterations should run dynamic friction 
        // This only applies to quadratic shapes if we have static friction enabled (NumPositionFrictionIterations > 0)
        // RBAN is the only system that uses velocity-based friction by default (it also disables static friction)
        // NOTE: velocity-based dynamic friction behaviour is iteration count dependent so generally want (NumVelocityFrictionIterations <= 1)
        // @todo(chaos): fix iteration count dependence of velocity-based friction, or remove it as a feature
        int32 NumVelocityFrictionIterations;
 
        // How many position iterations should have shock propagation enabled
        int32 NumPositionShockPropagationIterations;
 
        // How many velocity iterations should have shock propagation enabled
        int32 NumVelocityShockPropagationIterations;
    };
 
}   // namespace Chaos