Struct rapier3d::dynamics::IntegrationParameters [−][src]
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_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
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: Real
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: Real
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: Real
Correction factor to avoid large warmstart impulse after a strong impact (default 10.0
).
velocity_solve_fraction: Real
0-1: how much of the velocity to dampen out in the constraint solver?
(default 1.0
).
velocity_based_erp: Real
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: Real
Amount of penetration the engine wont attempt to correct (default: 0.005m
).
prediction_distance: Real
The maximal distance separating two objects that will generate predictive contacts (default: 0.002
).
allowed_angular_error: Real
Amount of angular drift of joint limits the engine wont
attempt to correct (default: 0.001rad
).
max_linear_correction: Real
Maximum linear correction during one step of the non-linear position solver (default: 0.2
).
max_angular_correction: Real
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
impl IntegrationParameters
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pub fn new(
dt: Real,
erp: Real,
joint_erp: Real,
warmstart_coeff: Real,
allowed_linear_error: Real,
allowed_angular_error: Real,
max_linear_correction: Real,
max_angular_correction: Real,
prediction_distance: Real,
max_velocity_iterations: usize,
max_position_iterations: usize,
max_ccd_substeps: usize
) -> Self
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dt: Real,
erp: Real,
joint_erp: Real,
warmstart_coeff: Real,
allowed_linear_error: Real,
allowed_angular_error: Real,
max_linear_correction: Real,
max_angular_correction: Real,
prediction_distance: Real,
max_velocity_iterations: usize,
max_position_iterations: usize,
max_ccd_substeps: usize
) -> Self
Use IntegrationParameters { dt: 60.0, ..Default::default() }
instead
Creates a set of integration parameters with the given values.
pub fn dt(&self) -> Real
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You can just read the IntegrationParams::dt
value directly
The current time-stepping length.
pub fn inv_dt(&self) -> Real
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The inverse of the time-stepping length, i.e. the steps per seconds (Hz).
This is zero if self.dt
is zero.
pub fn set_dt(&mut self, dt: Real)
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You can just set the IntegrationParams::dt
value directly
Sets the time-stepping length.
pub fn set_inv_dt(&mut self, inv_dt: Real)
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Sets the inverse time-stepping length (i.e. the frequency).
This automatically recompute self.dt
.
Trait Implementations
impl Clone for IntegrationParameters
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fn clone(&self) -> IntegrationParameters
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pub fn clone_from(&mut self, source: &Self)
1.0.0[src]
impl Copy for IntegrationParameters
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impl Default for IntegrationParameters
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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
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub 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,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,