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| author | Sébastien Crozet <developer@crozet.re> | 2022-01-16 08:20:22 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-01-16 08:20:22 -0800 |
| commit | 1880619d29029c99985ffae9ed12a1c8d2cc796b (patch) | |
| tree | 806e7d950015875ebfcca5520784aea6e7c5ae10 /src/dynamics/integration_parameters.rs | |
| parent | 4454a845e98b990abf3929ca46b59d0fca5a18ec (diff) | |
| parent | 0703e5527fd95d86bb6621e61dbcb1a6e7f9329a (diff) | |
| download | rapier-1880619d29029c99985ffae9ed12a1c8d2cc796b.tar.gz rapier-1880619d29029c99985ffae9ed12a1c8d2cc796b.tar.bz2 rapier-1880619d29029c99985ffae9ed12a1c8d2cc796b.zip | |
Merge pull request #277 from dimforge/solver-fixes
Fix some solver issues
Diffstat (limited to 'src/dynamics/integration_parameters.rs')
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index d998eec..844db41 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -30,6 +30,13 @@ pub struct IntegrationParameters { /// (default `0.0`). pub erp: Real, + /// 0-1: multiplier applied to each accumulated impulse during constraints resolution. + /// This is similar to the concept of CFN (Constraint Force Mixing) except that it is + /// a multiplicative factor instead of an additive factor. + /// Larger values lead to stiffer constraints (1.0 being completely stiff). + /// Smaller values lead to more compliant constraints. + pub delassus_inv_factor: Real, + /// Amount of penetration the engine wont attempt to correct (default: `0.001m`). pub allowed_linear_error: Real, /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`). @@ -96,6 +103,7 @@ impl Default for IntegrationParameters { min_ccd_dt: 1.0 / 60.0 / 100.0, velocity_solve_fraction: 1.0, erp: 0.8, + delassus_inv_factor: 0.75, allowed_linear_error: 0.001, // 0.005 prediction_distance: 0.002, max_velocity_iterations: 4, |