diff options
Diffstat (limited to 'src/dynamics/integration_parameters.rs')
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 26 |
1 files changed, 10 insertions, 16 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index 6d3acc5..d07527f 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -1,4 +1,5 @@ use crate::math::Real; +use std::num::NonZeroUsize; /// Parameters for a time-step of the physics engine. #[derive(Copy, Clone, Debug)] @@ -43,15 +44,10 @@ pub struct IntegrationParameters { pub max_penetration_correction: Real, /// The maximal distance separating two objects that will generate predictive contacts (default: `0.002`). pub prediction_distance: Real, - /// Maximum number of iterations performed to solve non-penetration and joint constraints (default: `4`). - pub max_velocity_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, + /// Number of iterations performed to solve friction constraints at solver iteration (default: `2`). + pub num_friction_iteration_per_solver_iteration: usize, + /// The number of solver iterations run by the constraints solver for calculating forces (default: `4`). + pub num_solver_iterations: NonZeroUsize, /// 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`). @@ -151,17 +147,15 @@ impl Default for IntegrationParameters { Self { dt: 1.0 / 60.0, min_ccd_dt: 1.0 / 60.0 / 100.0, - erp: 0.8, - damping_ratio: 0.25, + erp: 0.6, + damping_ratio: 1.0, joint_erp: 1.0, joint_damping_ratio: 1.0, - allowed_linear_error: 0.001, // 0.005 + allowed_linear_error: 0.001, max_penetration_correction: Real::MAX, prediction_distance: 0.002, - max_velocity_iterations: 4, - max_velocity_friction_iterations: 8, - max_stabilization_iterations: 1, - interleave_restitution_and_friction_resolution: true, // Enabling this makes a big difference for 2D stability. + num_friction_iteration_per_solver_iteration: 2, + num_solver_iterations: NonZeroUsize::new(4).unwrap(), // TODO: 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. |