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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_PHYSICS_FEM_PARAMETER_H
#define PX_PHYSICS_FEM_PARAMETER_H
#include "foundation/PxSimpleTypes.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief Set of parameters to control the sleeping and collision behavior of FEM based objects
*/
struct PxFEMParameters
{
public:
/**
\brief Velocity damping value. After every timestep the velocity is reduced while the magnitude of the reduction depends on velocityDamping
Default: 0.05
*/
PxReal velocityDamping;
/**
\brief Threshold that defines the maximal magnitude of the linear motion a fem body can move in one second before it becomes a candidate for sleeping
Default: 0.1
*/
PxReal settlingThreshold;
/**
\brief Threshold that defines the maximal magnitude of the linear motion a fem body can move in one second such that it can go to sleep in the next frame
Default: 0.05
*/
PxReal sleepThreshold;
/**
\brief Damping value that damps the motion of bodies that move slow enough to be candidates for sleeping (see settlingThreshold)
Default: 10
*/
PxReal sleepDamping;
/**
\brief Penetration value that needs to get exceeded before contacts for self collision are generated. Will only have an effect if self collisions are enabled.
Default: 0.1
*/
PxReal selfCollisionFilterDistance;
/**
\brief Stress threshold to deactivate collision contacts in case the tetrahedron's stress magnitude exceeds the threshold
Default: 0.9
*/
PxReal selfCollisionStressTolerance;
#ifndef __CUDACC__
PxFEMParameters()
{
velocityDamping = 0.05f;
settlingThreshold = 0.1f;
sleepThreshold = 0.05f;
sleepDamping = 10.f;
selfCollisionFilterDistance = 0.1f;
selfCollisionStressTolerance = 0.9f;
}
#endif
};
#if !PX_DOXYGEN
}
#endif
#endif