diff options
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 51 |
1 files changed, 29 insertions, 22 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index b31c3f6..8edf439 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -4,7 +4,7 @@ pub struct IntegrationParameters { /// The timestep length (default: `1.0 / 60.0`) dt: f32, - /// The inverse of `dt`. + /// The inverse of `dt` (default: `60.0` steps per second). inv_dt: f32, // /// If `true` and if rapier is compiled with the `parallel` feature, this will enable rayon-based multithreading (default: `true`). // /// @@ -182,26 +182,33 @@ impl IntegrationParameters { impl Default for IntegrationParameters { fn default() -> Self { - Self::new( - 1.0 / 60.0, - // true, - 0.2, - 0.2, - 1.0, - 1.0, - 0.005, - 0.001, - 0.2, - 0.2, - 0.002, - 0.2, - 4, - 1, - 10, - 1, - false, - false, - false, - ) + Self { + dt: 1.0 / 60.0, + inv_dt: 60.0, + // multithreading_enabled: true, + erp: 0.2, + joint_erp: 0.2, + warmstart_coeff: 1.0, + restitution_velocity_threshold: 1.0, + allowed_linear_error: 0.005, + allowed_angular_error: 0.001, + max_linear_correction: 0.2, + max_angular_correction: 0.2, + prediction_distance: 0.002, + max_stabilization_multiplier: 0.2, + max_velocity_iterations: 4, + max_position_iterations: 1, + // 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. + // However we don't want it to be too small and end up with + // tons of islands, reducing SIMD parallelism opportunities. + min_island_size: 128, + max_ccd_position_iterations: 10, + max_ccd_substeps: 1, + return_after_ccd_substep: false, + multiple_ccd_substep_sensor_events_enabled: false, + ccd_on_penetration_enabled: false, + } } } |