Struct rubullet::SetPhysicsEngineParameterOptions

pub struct SetPhysicsEngineParameterOptions {

    pub fixed_time_step: Option<Duration>,
    pub num_solver_iterations: Option<usize>,
    pub use_split_impulse: Option<bool>,
    pub split_impulse_penetration_threshold: Option<f64>,
    pub num_sub_steps: Option<usize>,
    pub collision_filter_mode: Option<usize>,
    pub contact_breaking_threshold: Option<f64>,
    pub max_num_cmd_per_1_ms: Option<i32>,
    pub enable_file_caching: Option<bool>,
    pub restitution_velocity_threshold: Option<f64>,
    pub erp: Option<f64>,
    pub contact_erp: Option<f64>,
    pub friction_erp: Option<f64>,
    pub enable_cone_friction: Option<bool>,
    pub deterministic_overlapping_pairs: Option<bool>,
    pub allowed_ccd_penetration: Option<f64>,
    pub joint_feedback_mode: Option<JointFeedbackMode>,
    pub solver_residual_threshold: Option<f64>,
    pub contact_slop: Option<f64>,
    pub enable_sat: Option<bool>,
    pub constraint_solver_type: Option<ConstraintSolverType>,
    pub global_cfm: Option<f64>,
    pub minimum_solver_island_size: Option<usize>,
    pub report_solver_analytics: Option<bool>,
    pub warm_starting_factor: Option<f64>,
    pub sparse_sdf_voxel_size: Option<f64>,
    pub num_non_contact_inner_iterations: Option<usize>,
}

Options for the set_physics_engine_parameter method.

Fields

fixed_time_step: Option<Duration>

See the warning in the set_time_step section. physics engine time step, each time you call step_simulation simulated time will progress this amount. Same as set_time_step

num_solver_iterations: Option<usize>

Choose the maximum number of constraint solver iterations. If the solver_residual_threshold is reached, the solver may terminate before the num_solver_iterations.

use_split_impulse: Option<bool>

Advanced feature, only when using maximal coordinates: split the positional constraint solving and velocity constraint solving in two stages, to prevent huge penetration recovery forces.

split_impulse_penetration_threshold: Option<f64>

Related to use_split_impulse: if the penetration for a particular contact constraint is less than this specified threshold, no split impulse will happen for that contact.

num_sub_steps: Option<usize>

Subdivide the physics simulation step further by num_sub_steps. This will trade performance over accuracy.

collision_filter_mode: Option<usize>

Use 0 for default collision filter: (group A&maskB) AND (groupB&maskA). Use 1 to switch to the OR collision filter: (group A&maskB) OR (groupB&maskA)

contact_breaking_threshold: Option<f64>

Contact points with distance exceeding this threshold are not processed by the LCP solver. In addition, AABBs are extended by this number. Defaults to 0.02 in Bullet 2.x.

max_num_cmd_per_1_ms: Option<i32>

Experimental: add 1ms sleep if the number of commands executed exceed this threshold. setting the value to -1 disables the feature.

enable_file_caching: Option<bool>

Set to false to disable file caching, such as .obj wavefront file loading

restitution_velocity_threshold: Option<f64>

If relative velocity is below this threshold, restitution will be zero.

erp: Option<f64>

constraint error reduction parameter (non-contact, non-friction)

contact_erp: Option<f64>

contact error reduction parameter

friction_erp: Option<f64>

friction error reduction parameter (when positional friction anchors are enabled)

enable_cone_friction: Option<bool>

Set to false to disable implicit cone friction and use pyramid approximation (cone is default). NOTE: Although enabled by default, it is worth trying to disable this feature, in case there are friction artifacts.

deterministic_overlapping_pairs: Option<bool>

enables or disables sorting of overlapping pairs (backward compatibility setting).

allowed_ccd_penetration: Option<f64>

If continuous collision detection (CCD) is enabled, CCD will not be used if the penetration is below this threshold.

joint_feedback_mode: Option<JointFeedbackMode>

Specifcy joint feedback frame

solver_residual_threshold: Option<f64>

velocity threshold, if the maximum velocity-level error for each constraint is below this threshold the solver will terminate (unless the solver hits the numSolverIterations). Default value is 1e-7

contact_slop: Option<f64>

Position correction of contacts is not resolved below this threshold, to allow more stable contact.

enable_sat: Option<bool>

if true, enable separating axis theorem based convex collision detection, if features are available (instead of using GJK and EPA). Requires URDF_INITIALIZE_SAT_FEATURES in the UrdfOptions in load_urdf.

constraint_solver_type: Option<ConstraintSolverType>

Experimental (best to ignore): allow to use a direct LCP solver, such as Dantzig.

global_cfm: Option<f64>

Experimental (best to ignore) global default constraint force mixing parameter.

minimum_solver_island_size: Option<usize>

Experimental (best to ignore), minimum size of constraint solving islands, to avoid very small islands of independent constraints.

report_solver_analytics: Option<bool>

when true, additional solve analytics is available.

warm_starting_factor: Option<f64>

fraction of previous-frame force/impulse that is used to initialize the initial solver solution

sparse_sdf_voxel_size: Option<f64>

num_non_contact_inner_iterations: Option<usize>

Trait Implementations

impl Debug for SetPhysicsEngineParameterOptions

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for SetPhysicsEngineParameterOptions

fn default() -> SetPhysicsEngineParameterOptions

Returns the “default value” for a type.