Struct heron::rapier_plugin::rapier2d::prelude::IntegrationParameters [−]
pub struct IntegrationParameters {Show 17 fields
pub dt: f32,
pub min_ccd_dt: f32,
pub erp: f32,
pub joint_erp: f32,
pub warmstart_coeff: f32,
pub warmstart_correction_slope: f32,
pub velocity_solve_fraction: f32,
pub velocity_based_erp: f32,
pub allowed_linear_error: f32,
pub prediction_distance: f32,
pub allowed_angular_error: f32,
pub max_linear_correction: f32,
pub max_angular_correction: f32,
pub max_velocity_iterations: usize,
pub max_position_iterations: usize,
pub min_island_size: usize,
pub max_ccd_substeps: usize,
}
Expand description
Parameters for a time-step of the physics engine.
Fields
dt: f32
The timestep length (default: 1.0 / 60.0
)
min_ccd_dt: f32
Minimum timestep size when using CCD with multiple substeps (default 1.0 / 60.0 / 100.0
)
When CCD with multiple substeps is enabled, the timestep is subdivided
into smaller pieces. This timestep subdivision won’t generate timestep
lengths smaller than min_ccd_dt
.
Setting this to a large value will reduce the opportunity to performing CCD substepping, resulting in potentially more time dropped by the motion-clamping mechanism. Setting this to an very small value may lead to numerical instabilities.
erp: f32
The Error Reduction Parameter in [0, 1]
is the proportion of
the positional error to be corrected at each time step (default: 0.2
).
joint_erp: f32
The Error Reduction Parameter for joints in [0, 1]
is the proportion of
the positional error to be corrected at each time step (default: 0.2
).
warmstart_coeff: f32
Each cached impulse are multiplied by this coefficient in [0, 1]
when they are re-used to initialize the solver (default 1.0
).
warmstart_correction_slope: f32
Correction factor to avoid large warmstart impulse after a strong impact (default 10.0
).
velocity_solve_fraction: f32
0-1: how much of the velocity to dampen out in the constraint solver?
(default 1.0
).
velocity_based_erp: f32
0-1: multiplier for how much of the constraint violation (e.g. contact penetration)
will be compensated for during the velocity solve.
If zero, you need to enable the positional solver.
If non-zero, you do not need the positional solver.
A good non-zero value is around 0.2
.
(default 0.0
).
allowed_linear_error: f32
Amount of penetration the engine wont attempt to correct (default: 0.005m
).
prediction_distance: f32
The maximal distance separating two objects that will generate predictive contacts (default: 0.002
).
allowed_angular_error: f32
Amount of angular drift of joint limits the engine wont
attempt to correct (default: 0.001rad
).
max_linear_correction: f32
Maximum linear correction during one step of the non-linear position solver (default: 0.2
).
max_angular_correction: f32
Maximum angular correction during one step of the non-linear position solver (default: 0.2
).
max_velocity_iterations: usize
Maximum number of iterations performed by the velocity constraints solver (default: 4
).
max_position_iterations: usize
Maximum number of iterations performed by the position-based constraints solver (default: 1
).
min_island_size: usize
Minimum number of dynamic bodies in each active island (default: 128
).
max_ccd_substeps: usize
Maximum number of substeps performed by the solver (default: 1
).
Implementations
pub fn new(
dt: f32,
erp: f32,
joint_erp: f32,
warmstart_coeff: f32,
allowed_linear_error: f32,
allowed_angular_error: f32,
max_linear_correction: f32,
max_angular_correction: f32,
prediction_distance: f32,
max_velocity_iterations: usize,
max_position_iterations: usize,
max_ccd_substeps: usize
) -> IntegrationParameters
👎 Deprecated: Use IntegrationParameters { dt: 60.0, ..Default::default() }
instead
pub fn new(
dt: f32,
erp: f32,
joint_erp: f32,
warmstart_coeff: f32,
allowed_linear_error: f32,
allowed_angular_error: f32,
max_linear_correction: f32,
max_angular_correction: f32,
prediction_distance: f32,
max_velocity_iterations: usize,
max_position_iterations: usize,
max_ccd_substeps: usize
) -> IntegrationParameters
Use IntegrationParameters { dt: 60.0, ..Default::default() }
instead
Creates a set of integration parameters with the given values.
👎 Deprecated: You can just read the IntegrationParams::dt
value directly
You can just read the IntegrationParams::dt
value directly
The current time-stepping length.
The inverse of the time-stepping length, i.e. the steps per seconds (Hz).
This is zero if self.dt
is zero.
👎 Deprecated: You can just set the IntegrationParams::dt
value directly
You can just set the IntegrationParams::dt
value directly
Sets the time-stepping length.
pub fn set_inv_dt(&mut self, inv_dt: f32)
pub fn set_inv_dt(&mut self, inv_dt: f32)
Sets the inverse time-stepping length (i.e. the frequency).
This automatically recompute self.dt
.
Trait Implementations
impl Clone for IntegrationParameters
impl Clone for IntegrationParameters
pub fn clone(&self) -> IntegrationParameters
pub fn clone(&self) -> IntegrationParameters
Returns a copy of the value. Read more
Performs copy-assignment from source
. Read more
impl Default for IntegrationParameters
impl Default for IntegrationParameters
pub fn default() -> IntegrationParameters
pub fn default() -> IntegrationParameters
Returns the “default value” for a type. Read more
impl Copy for IntegrationParameters
Auto Trait Implementations
impl RefUnwindSafe for IntegrationParameters
impl Send for IntegrationParameters
impl Sync for IntegrationParameters
impl Unpin for IntegrationParameters
impl UnwindSafe for IntegrationParameters
Blanket Implementations
Mutably borrows from an owned value. Read more
impl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
Convert Box<dyn Trait>
(where Trait: Downcast
) to Box<dyn Any>
. Box<dyn Any>
can
then be further downcast
into Box<ConcreteType>
where ConcreteType
implements Trait
. Read more
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
Convert Rc<Trait>
(where Trait: Downcast
) to Rc<Any>
. Rc<Any>
can then be
further downcast
into Rc<ConcreteType>
where ConcreteType
implements Trait
. Read more
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
Convert &mut Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &mut Any
’s vtable from &mut Trait
’s. Read more
impl<T> FromWorld for T where
T: Default,
impl<T> FromWorld for T where
T: Default,
pub fn from_world(_world: &mut World) -> T
pub fn from_world(_world: &mut World) -> T
Creates Self
using data from the given [World]
impl<T> Pointable for T
impl<T> Pointable for T
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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 clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
pub fn vzip(self) -> V
Attaches the provided Subscriber
to this type, returning a
WithDispatch
wrapper. Read more
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WithDispatch
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