Struct rubullet::SetPhysicsEngineParameterOptions [−][src]
pub struct SetPhysicsEngineParameterOptions {}Show fields
pub fixed_time_step: Option<Duration>, pub num_solver_iterations: Option<usize>, pub use_split_impulse: Option<bool>, pub split_impulse_penetration_threshold: Option<f64>, pub num_sub_steps: Option<usize>, pub collision_filter_mode: Option<usize>, pub contact_breaking_threshold: Option<f64>, pub max_num_cmd_per_1_ms: Option<i32>, pub enable_file_caching: Option<bool>, pub restitution_velocity_threshold: Option<f64>, pub erp: Option<f64>, pub contact_erp: Option<f64>, pub friction_erp: Option<f64>, pub enable_cone_friction: Option<bool>, pub deterministic_overlapping_pairs: Option<bool>, pub allowed_ccd_penetration: Option<f64>, pub joint_feedback_mode: Option<JointFeedbackMode>, pub solver_residual_threshold: Option<f64>, pub contact_slop: Option<f64>, pub enable_sat: Option<bool>, pub constraint_solver_type: Option<ConstraintSolverType>, pub global_cfm: Option<f64>, pub minimum_solver_island_size: Option<usize>, pub report_solver_analytics: Option<bool>, pub warm_starting_factor: Option<f64>, pub sparse_sdf_voxel_size: Option<f64>, pub num_non_contact_inner_iterations: Option<usize>,
Expand description
Options for the set_physics_engine_parameter
method.
Fields
fixed_time_step: Option<Duration>
See the warning in the set_time_step
section.
physics engine time step,
each time you call step_simulation
simulated
time will progress this amount. Same as set_time_step
num_solver_iterations: Option<usize>
Choose the maximum number of constraint solver iterations. If the solver_residual_threshold is reached, the solver may terminate before the num_solver_iterations.
use_split_impulse: Option<bool>
Advanced feature, only when using maximal coordinates: split the positional constraint solving and velocity constraint solving in two stages, to prevent huge penetration recovery forces.
split_impulse_penetration_threshold: Option<f64>
Related to use_split_impulse
: if the penetration for a particular contact constraint is
less than this specified threshold, no split impulse will happen for that contact.
num_sub_steps: Option<usize>
Subdivide the physics simulation step further by num_sub_steps
.
This will trade performance over accuracy.
collision_filter_mode: Option<usize>
Use 0 for default collision filter: (group A&maskB) AND (groupB&maskA). Use 1 to switch to the OR collision filter: (group A&maskB) OR (groupB&maskA)
contact_breaking_threshold: Option<f64>
Contact points with distance exceeding this threshold are not processed by the LCP solver. In addition, AABBs are extended by this number. Defaults to 0.02 in Bullet 2.x.
max_num_cmd_per_1_ms: Option<i32>
Experimental: add 1ms sleep if the number of commands executed exceed this threshold.
setting the value to -1
disables the feature.
enable_file_caching: Option<bool>
Set to false
to disable file caching, such as .obj wavefront file loading
restitution_velocity_threshold: Option<f64>
If relative velocity is below this threshold, restitution will be zero.
erp: Option<f64>
constraint error reduction parameter (non-contact, non-friction)
contact_erp: Option<f64>
contact error reduction parameter
friction_erp: Option<f64>
friction error reduction parameter (when positional friction anchors are enabled)
enable_cone_friction: Option<bool>
Set to false
to disable implicit cone friction and use pyramid approximation (cone is default).
NOTE: Although enabled by default, it is worth trying to disable this feature, in case there are friction artifacts.
deterministic_overlapping_pairs: Option<bool>
enables or disables sorting of overlapping pairs (backward compatibility setting).
allowed_ccd_penetration: Option<f64>
If continuous collision detection (CCD) is enabled, CCD will not be used if the penetration is below this threshold.
joint_feedback_mode: Option<JointFeedbackMode>
Specifcy joint feedback frame
solver_residual_threshold: Option<f64>
velocity threshold, if the maximum velocity-level error for each constraint is below this threshold the solver will terminate (unless the solver hits the numSolverIterations). Default value is 1e-7
contact_slop: Option<f64>
Position correction of contacts is not resolved below this threshold, to allow more stable contact.
enable_sat: Option<bool>
if true, enable separating axis theorem based convex collision detection,
if features are available (instead of using GJK and EPA).
Requires URDF_INITIALIZE_SAT_FEATURES
in
the UrdfOptions
in load_urdf
.
constraint_solver_type: Option<ConstraintSolverType>
Experimental (best to ignore): allow to use a direct LCP solver, such as Dantzig.
global_cfm: Option<f64>
Experimental (best to ignore) global default constraint force mixing parameter.
minimum_solver_island_size: Option<usize>
Experimental (best to ignore), minimum size of constraint solving islands, to avoid very small islands of independent constraints.
report_solver_analytics: Option<bool>
when true, additional solve analytics is available.
warm_starting_factor: Option<f64>
fraction of previous-frame force/impulse that is used to initialize the initial solver solution
sparse_sdf_voxel_size: Option<f64>
num_non_contact_inner_iterations: Option<usize>
Trait Implementations
Returns the “default value” for a type. Read more
Auto Trait Implementations
impl Send for SetPhysicsEngineParameterOptions
impl Sync for SetPhysicsEngineParameterOptions
impl Unpin for SetPhysicsEngineParameterOptions
Blanket Implementations
Mutably borrows from an owned value. Read more
type Output = T
type Output = T
Should always be Self
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
pub fn is_in_subset(&self) -> bool
pub fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
pub fn to_subset_unchecked(&self) -> SS
pub fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
pub fn from_subset(element: &SS) -> SP
pub fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
pub fn vzip(self) -> V