diff options
Diffstat (limited to 'src/dynamics/integration_parameters.rs')
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 12 |
1 files changed, 8 insertions, 4 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index e66f72d..84c8117 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -20,10 +20,7 @@ pub struct IntegrationParameters { /// 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`). + /// (default `0.8`). pub erp: Real, /// 0-1: the damping ratio used by the springs for Baumgarte constraints stabilization. /// Lower values make the constraints more compliant (more "springy", allowing more visible penetrations @@ -31,7 +28,13 @@ pub struct IntegrationParameters { /// (default `0.25`). pub damping_ratio: Real, + /// 0-1: multiplier for how much of the joint violation + /// will be compensated for during the velocity solve. + /// (default `1.0`). pub joint_erp: Real, + + /// The fraction of critical damping applied to the joint for constraints regularization. + /// (default `0.25`). pub joint_damping_ratio: Real, /// Amount of penetration the engine wont attempt to correct (default: `0.001m`). @@ -131,6 +134,7 @@ impl IntegrationParameters { 1.0 / (1.0 + cfm_coeff) } + /// The CFM (constranits force mixing) coefficient applied to all joints for constraints regularization pub fn joint_cfm_coeff(&self) -> Real { // Compute CFM assuming a critically damped spring multiplied by the damping ratio. let inv_erp_minus_one = 1.0 / self.joint_erp - 1.0; |