pub unsafe extern "C" fn PxArticulationReducedCoordinate_setSolverIterationCounts_mut(
self_: *mut PxArticulationReducedCoordinate,
minPositionIters: u32,
minVelocityIters: u32
)Expand description
Sets the solver iteration counts for the articulation.
The solver iteration count determines how accurately contacts, drives, and limits are resolved. Setting a higher position iteration count may therefore help in scenarios where the articulation is subject to many constraints; for example, a manipulator articulation with drives and joint limits that is grasping objects, or several such articulations interacting through contacts. Other situations where higher position iterations may improve simulation fidelity are: large mass ratios within the articulation or between the articulation and an object in contact with it; or strong drives in the articulation being used to manipulate a light object.
If intersecting bodies are being depenetrated too violently, increase the number of velocity iterations. More velocity iterations will drive the relative exit velocity of the intersecting objects closer to the correct value given the restitution.
This call may not be made during simulation.