diff options
Diffstat (limited to 'src/dynamics/integration_parameters.rs')
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index b883b0e..8b2ba3b 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -178,10 +178,16 @@ impl IntegrationParameters { * self.joint_damping_ratio) } + /// Amount of penetration the engine won’t attempt to correct (default: `0.001` multiplied by + /// [`Self::length_unit`]). pub fn allowed_linear_error(&self) -> Real { self.normalized_allowed_linear_error * self.length_unit } + /// Maximum amount of penetration the solver will attempt to resolve in one timestep. + /// + /// This is equal to [`Self::normalized_max_penetration_correction`] multiplied by + /// [`Self::length_unit`]. pub fn max_penetration_correction(&self) -> Real { if self.normalized_max_penetration_correction != Real::MAX { self.normalized_max_penetration_correction * self.length_unit @@ -190,11 +196,13 @@ impl IntegrationParameters { } } + /// The maximal distance separating two objects that will generate predictive contacts + /// (default: `0.002m` multiped by [`Self::length_unit`]). pub fn prediction_distance(&self) -> Real { self.normalized_prediction_distance * self.length_unit } - /// Initialize the simulation paramaters with settings matching the TGS-soft solver + /// Initialize the simulation parameters with settings matching the TGS-soft solver /// with warmstarting. /// /// This is the default configuration, equivalent to [`IntegrationParameters::default()`]. |