Struct nphysics3d::solver::IntegrationParameters [−][src]
pub struct IntegrationParameters<N: Real> { pub dt: N, pub erp: N, pub warmstart_coeff: N, pub restitution_velocity_threshold: N, pub allowed_linear_error: N, pub allowed_angular_error: N, pub max_linear_correction: N, pub max_angular_correction: N, pub max_stabilization_multiplier: N, pub max_velocity_iterations: usize, pub max_position_iterations: usize, }
Parameters for a time-step of the physics engine.
Fields
dt: N
The timestep (default: 1.0 / 60.0
)
erp: N
The Error Reduction Parameter in [0, 1]
is the proportion of
the positional error to be corrected at each time step (default: 0.2
).
warmstart_coeff: N
Each cached impulse are multiplied by this coefficient in [0, 1]
when they are re-used to initialize the solver (default 1.0
).
restitution_velocity_threshold: N
Contacts at points where the involved bodies have a relative
velocity smaller than this threshold wont be affected by the restitution force (default: 1.0
).
allowed_linear_error: N
Ammount of penetration the engine wont attempt to correct (default: 0.001m
).
allowed_angular_error: N
Ammount of angular drift of joint limits the engine wont
attempt to correct (default: 0.001rad
).
max_linear_correction: N
Maximum linear correction during one step of the non-linear position solver (default: 100.0
).
max_angular_correction: N
Maximum angular correction during one step of the non-linear position solver (default: 0.2
).
max_stabilization_multiplier: N
Maximum nonlinera SOR-prox scaling parameter when the constraint
correction direction is close to the kernel of the involved multibody's
jacobian (default: 0.2
).
max_velocity_iterations: usize
Maximum number of iterations performed by the velocity constraints solver.
max_position_iterations: usize
Maximum number of iterations performed by the position-based constraints solver.
Methods
impl<N: Real> IntegrationParameters<N>
[src]
impl<N: Real> IntegrationParameters<N>
pub fn new(
dt: N,
erp: N,
warmstart_coeff: N,
restitution_velocity_threshold: N,
allowed_linear_error: N,
allowed_angular_error: N,
max_linear_correction: N,
max_angular_correction: N,
max_stabilization_multiplier: N,
max_velocity_iterations: usize,
max_position_iterations: usize
) -> Self
[src]
pub fn new(
dt: N,
erp: N,
warmstart_coeff: N,
restitution_velocity_threshold: N,
allowed_linear_error: N,
allowed_angular_error: N,
max_linear_correction: N,
max_angular_correction: N,
max_stabilization_multiplier: N,
max_velocity_iterations: usize,
max_position_iterations: usize
) -> Self
Creates a set of integration parameters with the given values.
Trait Implementations
impl<N: Real> Default for IntegrationParameters<N>
[src]
impl<N: Real> Default for IntegrationParameters<N>
Auto Trait Implementations
impl<N> Send for IntegrationParameters<N>
impl<N> Send for IntegrationParameters<N>
impl<N> Sync for IntegrationParameters<N>
impl<N> Sync for IntegrationParameters<N>