Struct mjOption 

pub struct mjOption { /* private fields */ }

Implementations

impl mjOption

pub fn timestep(&self) -> f64

simulation timestep in seconds

pub fn set_timestep(&mut self, value: f64) -> &mut Self

set simulation timestep in seconds

pub fn impratio(&self) -> f64

ratio of friction-to-normal contact impedance

pub fn set_impratio(&mut self, value: f64) -> &mut Self

set ratio of friction-to-normal contact impedance

pub fn tolerance(&self) -> f64

main solver tolerance

pub fn set_tolerance(&mut self, value: f64) -> &mut Self

set main solver tolerance

pub fn ls_tolerance(&self) -> f64

CG/Newton linesearch tolerance

pub fn set_ls_tolerance(&mut self, value: f64) -> &mut Self

set CG/Newton linesearch tolerance

pub fn noslip_tolerance(&self) -> f64

noslip solver tolerance

pub fn set_noslip_tolerance(&mut self, value: f64) -> &mut Self

set noslip solver tolerance

pub fn ccd_tolerance(&self) -> f64

convex collision solver tolerance

pub fn set_ccd_tolerance(&mut self, value: f64) -> &mut Self

set convex collision solver tolerance

pub fn sleep_tolerance(&self) -> f64

sleep velocity tolerance

pub fn set_sleep_tolerance(&mut self, value: f64) -> &mut Self

set sleep velocity tolerance

pub fn gravity(&self) -> [f64; 3]

gravitational acceleration

pub fn set_gravity(&mut self, value: [f64; 3]) -> &mut Self

set gravitational acceleration

pub fn wind(&self) -> [f64; 3]

wind (for lift, drag and viscosity)

pub fn set_wind(&mut self, value: [f64; 3]) -> &mut Self

set wind (for lift, drag and viscosity)

pub fn magnetic(&self) -> [f64; 3]

global magnetic flux

pub fn set_magnetic(&mut self, value: [f64; 3]) -> &mut Self

set global magnetic flux

pub fn density(&self) -> f64

density of medium

pub fn set_density(&mut self, value: f64) -> &mut Self

set density of medium

pub fn viscosity(&self) -> f64

viscosity of medium

pub fn set_viscosity(&mut self, value: f64) -> &mut Self

set viscosity of medium

pub fn o_margin(&self) -> f64

override contact solver’s margin

pub fn set_o_margin(&mut self, value: f64) -> &mut Self

set override contact solver’s margin

pub fn o_solref(&self) -> [f64; 2]

override contact solver’s solref

pub fn set_o_solref(&mut self, value: [f64; 2]) -> &mut Self

set override contact solver’s solref

pub fn o_solimp(&self) -> [f64; 5]

override contact solver’s solimp

pub fn set_o_solimp(&mut self, value: [f64; 5]) -> &mut Self

set override contact solver’s solimp

pub fn o_friction(&self) -> [f64; 5]

override contact solver’s friction

pub fn set_o_friction(&mut self, value: [f64; 5]) -> &mut Self

set override contact solver’s friction

pub fn iterations(&self) -> usize

maximum number of main solver iterations

pub fn set_iterations(&mut self, value: usize) -> &mut Self

set maximum number of main solver iterations

pub fn ls_iterations(&self) -> usize

maximum number of CG/Newton linesearch iterations

pub fn set_ls_iterations(&mut self, value: usize) -> &mut Self

set maximum number of CG/Newton linesearch iterations

pub fn noslip_iterations(&self) -> usize

maximum number of noslip solver iterations

pub fn set_noslip_iterations(&mut self, value: usize) -> &mut Self

set maximum number of noslip solver iterations

pub fn ccd_iterations(&self) -> usize

maximum number of convex collision solver iterations

pub fn set_ccd_iterations(&mut self, value: usize) -> &mut Self

set maximum number of convex collision solver iterations

pub fn integrator(&self) -> mjtIntegrator

integration mode (mjtIntegrator)

pub fn set_integrator(&mut self, value: mjtIntegrator) -> &mut Self

set integration mode (mjtIntegrator)

pub fn cone(&self) -> mjtCone

type of friction cone (mjtCone)

pub fn set_cone(&mut self, value: mjtCone) -> &mut Self

set type of friction cone (mjtCone)

pub fn jacobian(&self) -> mjtJacobian

type of Jacobian (mjtJacobian)

pub fn set_jacobian(&mut self, value: mjtJacobian) -> &mut Self

set type of Jacobian (mjtJacobian)

pub fn solver(&self) -> mjtSolver

solver algorithm (mjtSolver)

pub fn set_solver(&mut self, value: mjtSolver) -> &mut Self

set solver algorithm (mjtSolver)

pub fn disableflags(&self) -> mjtDisableBit

bit flags for disabling standard features

pub fn set_disableflags(&mut self, value: mjtDisableBit) -> &mut Self

set bit flags for disabling standard features

pub fn enableflags(&self) -> mjtEnableBit

bit flags for enabling optional features

pub fn set_enableflags(&mut self, value: mjtEnableBit) -> &mut Self

set bit flags for enabling optional features

pub fn disableactuator(&self) -> mjtDisableBit

bit flags for disabling actuators by group id

pub fn set_disableactuator(&mut self, value: mjtDisableBit) -> &mut Self

set bit flags for disabling actuators by group id

Trait Implementations

impl Clone for mjOption

fn clone(&self) -> mjOption

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for mjOption

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

Formats the value using the given formatter.

impl Default for mjOption

fn default() -> Self

Returns the “default value” for a type.

impl Copy for mjOption