[−][src]Struct nphysics3d::solver::IntegrationParameters
Parameters for a time-step of the physics engine.
Fields
dt: N
The timestep (default: 1.0 / 60.0
)
t: N
The total elapsed time in the physics world.
This is the accumulation of the dt
of all the calls to world.step()
.
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>
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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
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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
Auto Trait Implementations
impl<N> Send for IntegrationParameters<N>
impl<N> Sync for IntegrationParameters<N>
Blanket Implementations
impl<T, U> Into for T where
U: From<T>,
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U: From<T>,
impl<T> From for T
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impl<T, U> TryFrom for T where
U: Into<T>,
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U: Into<T>,
type Error = !
try_from
)The type returned in the event of a conversion error.
fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T> Borrow for T where
T: ?Sized,
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T: ?Sized,
impl<T, U> TryInto for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
try_from
)The type returned in the event of a conversion error.
fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> BorrowMut for T where
T: ?Sized,
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T: ?Sized,
fn borrow_mut(&mut self) -> &mut T
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impl<T> Downcast for T where
T: Any,
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T: Any,
fn into_any(self: Box<T>) -> Box<dyn Any + 'static>
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fn as_any(&self) -> &(dyn Any + 'static)
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<SS, SP> SupersetOf for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
fn to_subset(&self) -> Option<SS>
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fn is_in_subset(&self) -> bool
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unsafe fn to_subset_unchecked(&self) -> SS
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fn from_subset(element: &SS) -> SP
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impl<T> Same for T
type Output = T
Should always be Self