diff options
Diffstat (limited to 'src/dynamics/integration_parameters.rs')
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 96 |
1 files changed, 18 insertions, 78 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index 4725319..d998eec 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -18,18 +18,6 @@ pub struct IntegrationParameters { /// to numerical instabilities. pub min_ccd_dt: Real, - /// The Error Reduction Parameter in `[0, 1]` is the proportion of - /// the positional error to be corrected at each time step (default: `0.2`). - pub erp: Real, - /// The Error Reduction Parameter for joints in `[0, 1]` is the proportion of - /// the positional error to be corrected at each time step (default: `0.2`). - pub joint_erp: Real, - /// Each cached impulse are multiplied by this coefficient in `[0, 1]` - /// when they are re-used to initialize the solver (default `1.0`). - pub warmstart_coeff: Real, - /// Correction factor to avoid large warmstart impulse after a strong impact (default `10.0`). - pub warmstart_correction_slope: Real, - /// 0-1: how much of the velocity to dampen out in the constraint solver? /// (default `1.0`). pub velocity_solve_fraction: Real, @@ -40,23 +28,21 @@ pub struct IntegrationParameters { /// If non-zero, you do not need the positional solver. /// A good non-zero value is around `0.2`. /// (default `0.0`). - pub velocity_based_erp: Real, + pub erp: Real, - /// Amount of penetration the engine wont attempt to correct (default: `0.005m`). + /// 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`). pub prediction_distance: Real, - /// Amount of angular drift of joint limits the engine wont - /// attempt to correct (default: `0.001rad`). - pub allowed_angular_error: Real, - /// Maximum linear correction during one step of the non-linear position solver (default: `0.2`). - pub max_linear_correction: Real, - /// Maximum angular correction during one step of the non-linear position solver (default: `0.2`). - pub max_angular_correction: Real, - /// Maximum number of iterations performed by the velocity constraints solver (default: `4`). + /// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`). pub max_velocity_iterations: usize, - /// Maximum number of iterations performed by the position-based constraints solver (default: `1`). - pub max_position_iterations: usize, + /// Maximum number of iterations performed to solve friction constraints (default: `8`). + pub max_velocity_friction_iterations: usize, + /// Maximum number of iterations performed to remove the energy introduced by penetration corrections (default: `1`). + pub max_stabilization_iterations: usize, + /// If `false`, friction and non-penetration constraints will be solved in the same loop. Otherwise, + /// non-penetration constraints are solved first, and friction constraints are solved after (default: `true`). + pub interleave_restitution_and_friction_resolution: bool, /// Minimum number of dynamic bodies in each active island (default: `128`). pub min_island_size: usize, /// Maximum number of substeps performed by the solver (default: `1`). @@ -64,46 +50,6 @@ pub struct IntegrationParameters { } impl IntegrationParameters { - /// Creates a set of integration parameters with the given values. - #[deprecated = "Use `IntegrationParameters { dt: 60.0, ..Default::default() }` instead"] - pub fn new( - dt: Real, - erp: Real, - joint_erp: Real, - warmstart_coeff: Real, - allowed_linear_error: Real, - allowed_angular_error: Real, - max_linear_correction: Real, - max_angular_correction: Real, - prediction_distance: Real, - max_velocity_iterations: usize, - max_position_iterations: usize, - max_ccd_substeps: usize, - ) -> Self { - IntegrationParameters { - dt, - erp, - joint_erp, - warmstart_coeff, - allowed_linear_error, - allowed_angular_error, - max_linear_correction, - max_angular_correction, - prediction_distance, - max_velocity_iterations, - max_position_iterations, - max_ccd_substeps, - ..Default::default() - } - } - - /// The current time-stepping length. - #[inline(always)] - #[deprecated = "You can just read the `IntegrationParams::dt` value directly"] - pub fn dt(&self) -> Real { - self.dt - } - /// The inverse of the time-stepping length, i.e. the steps per seconds (Hz). /// /// This is zero if `self.dt` is zero. @@ -136,10 +82,10 @@ impl IntegrationParameters { } } - /// Convenience: `velocity_based_erp / dt` + /// Convenience: `erp / dt` #[inline] - pub(crate) fn velocity_based_erp_inv_dt(&self) -> Real { - self.velocity_based_erp * self.inv_dt() + pub(crate) fn erp_inv_dt(&self) -> Real { + self.erp * self.inv_dt() } } @@ -148,20 +94,14 @@ impl Default for IntegrationParameters { Self { dt: 1.0 / 60.0, min_ccd_dt: 1.0 / 60.0 / 100.0, - // multithreading_enabled: true, - erp: 0.2, - joint_erp: 0.2, velocity_solve_fraction: 1.0, - velocity_based_erp: 0.0, - warmstart_coeff: 1.0, - warmstart_correction_slope: 10.0, - allowed_linear_error: 0.005, + erp: 0.8, + allowed_linear_error: 0.001, // 0.005 prediction_distance: 0.002, - allowed_angular_error: 0.001, - max_linear_correction: 0.2, - max_angular_correction: 0.2, max_velocity_iterations: 4, - max_position_iterations: 1, + max_velocity_friction_iterations: 8, + max_stabilization_iterations: 1, + interleave_restitution_and_friction_resolution: true, // Enabling this makes a big difference for 2D stability. // FIXME: what is the optimal value for min_island_size? // It should not be too big so that we don't end up with // huge islands that don't fit in cache. |