Struct rapier3d::dynamics::IntegrationParameters
source · [−]pub struct IntegrationParameters {Show 15 fields
pub dt: Real,
pub min_ccd_dt: Real,
pub erp: Real,
pub damping_ratio: Real,
pub joint_erp: Real,
pub joint_damping_ratio: Real,
pub allowed_linear_error: Real,
pub max_penetration_correction: Real,
pub prediction_distance: Real,
pub max_velocity_iterations: usize,
pub max_velocity_friction_iterations: usize,
pub max_stabilization_iterations: usize,
pub interleave_restitution_and_friction_resolution: bool,
pub min_island_size: usize,
pub max_ccd_substeps: usize,
}
Expand description
Parameters for a time-step of the physics engine.
Fields
dt: Real
The timestep length (default: 1.0 / 60.0
)
min_ccd_dt: Real
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: Real
0-1: multiplier for how much of the constraint violation (e.g. contact penetration)
will be compensated for during the velocity solve.
(default 0.8
).
damping_ratio: Real
0-1: the damping ratio used by the springs for Baumgarte constraints stabilization.
Lower values make the constraints more compliant (more “springy”, allowing more visible penetrations
before stabilization).
(default 0.25
).
joint_erp: Real
0-1: multiplier for how much of the joint violation
will be compensated for during the velocity solve.
(default 1.0
).
joint_damping_ratio: Real
The fraction of critical damping applied to the joint for constraints regularization.
(default 0.25
).
allowed_linear_error: Real
Amount of penetration the engine wont attempt to correct (default: 0.001m
).
max_penetration_correction: Real
Maximum amount of penetration the solver will attempt to resolve in one timestep.
prediction_distance: Real
The maximal distance separating two objects that will generate predictive contacts (default: 0.002
).
max_velocity_iterations: usize
Maximum number of iterations performed to solve non-penetration and joint constraints (default: 4
).
max_velocity_friction_iterations: usize
Maximum number of iterations performed to solve friction constraints (default: 8
).
max_stabilization_iterations: usize
Maximum number of iterations performed to remove the energy introduced by penetration corrections (default: 1
).
interleave_restitution_and_friction_resolution: bool
If false
, friction and non-penetration constraints will be solved in the same loop. Otherwise,
non-penetration constraints are solved first, and friction constraints are solved after (default: true
).
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
sourceimpl IntegrationParameters
impl IntegrationParameters
sourcepub fn inv_dt(&self) -> Real
pub fn inv_dt(&self) -> Real
The inverse of the time-stepping length, i.e. the steps per seconds (Hz).
This is zero if self.dt
is zero.
sourcepub fn set_dt(&mut self, dt: Real)
👎 Deprecated: You can just set the IntegrationParams::dt
value directly
pub fn set_dt(&mut self, dt: Real)
You can just set the IntegrationParams::dt
value directly
Sets the time-stepping length.
sourcepub fn set_inv_dt(&mut self, inv_dt: Real)
pub fn set_inv_dt(&mut self, inv_dt: Real)
Sets the inverse time-stepping length (i.e. the frequency).
This automatically recompute self.dt
.
sourcepub fn erp_inv_dt(&self) -> Real
pub fn erp_inv_dt(&self) -> Real
The ERP coefficient, multiplied by the inverse timestep length.
sourcepub fn joint_erp_inv_dt(&self) -> Real
pub fn joint_erp_inv_dt(&self) -> Real
The joint ERP coefficient, multiplied by the inverse timestep length.
sourcepub fn cfm_factor(&self) -> Real
pub fn cfm_factor(&self) -> Real
The CFM factor to be used in the constraints resolution.
sourcepub fn joint_cfm_coeff(&self) -> Real
pub fn joint_cfm_coeff(&self) -> Real
The CFM (constranits force mixing) coefficient applied to all joints for constraints regularization
Trait Implementations
sourceimpl Clone for IntegrationParameters
impl Clone for IntegrationParameters
sourcefn clone(&self) -> IntegrationParameters
fn clone(&self) -> IntegrationParameters
Returns a copy of the value. Read more
1.0.0 · sourcefn clone_from(&mut self, source: &Self)
fn clone_from(&mut self, source: &Self)
Performs copy-assignment from source
. Read more
sourceimpl Debug for IntegrationParameters
impl Debug for IntegrationParameters
sourceimpl Default for IntegrationParameters
impl Default for IntegrationParameters
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
sourceimpl<T> BorrowMut<T> for T where
T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
const: unstable · sourcefn borrow_mut(&mut self) -> &mut T
fn borrow_mut(&mut self) -> &mut T
Mutably borrows from an owned value. Read more
sourceimpl<T> Downcast for T where
T: Any,
impl<T> Downcast for T where
T: Any,
sourcefn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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
sourcefn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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
sourcefn as_any(&self) -> &(dyn Any + 'static)
fn as_any(&self) -> &(dyn Any + 'static)
Convert &Trait
(where Trait: Downcast
) to &Any
. This is needed since Rust cannot
generate &Any
’s vtable from &Trait
’s. Read more
sourcefn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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
sourceimpl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> DowncastSync for T where
T: Any + Send + Sync,
impl<T> Pointable for T
impl<T> Pointable for T
sourceimpl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
sourcefn to_subset(&self) -> Option<SS>
fn to_subset(&self) -> Option<SS>
The inverse inclusion map: attempts to construct self
from the equivalent element of its
superset. Read more
sourcefn is_in_subset(&self) -> bool
fn is_in_subset(&self) -> bool
Checks if self
is actually part of its subset T
(and can be converted to it).
sourcefn to_subset_unchecked(&self) -> SS
fn to_subset_unchecked(&self) -> SS
Use with care! Same as self.to_subset
but without any property checks. Always succeeds.
sourcefn from_subset(element: &SS) -> SP
fn from_subset(element: &SS) -> SP
The inclusion map: converts self
to the equivalent element of its superset.
sourceimpl<T> ToOwned for T where
T: Clone,
impl<T> ToOwned for T where
T: Clone,
type Owned = T
type Owned = T
The resulting type after obtaining ownership.
sourcefn clone_into(&self, target: &mut T)
fn clone_into(&self, target: &mut T)
toowned_clone_into
)Uses borrowed data to replace owned data, usually by cloning. Read more