avian3d::dynamics::solver

Struct SolverConfig

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pub struct SolverConfig {
    pub contact_damping_ratio: Scalar,
    pub contact_frequency_factor: Scalar,
    pub max_overlap_solve_speed: Scalar,
    pub warm_start_coefficient: Scalar,
    pub restitution_threshold: Scalar,
    pub restitution_iterations: usize,
}
Expand description

Configuration parameters for the constraint solver that handles things like contacts and joints.

These are tuned to give good results for most applications, but can be configured if more control over the simulation behavior is needed.

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§contact_damping_ratio: Scalar

The damping ratio used for contact stabilization.

Lower values make contacts more compliant or “springy”, allowing more visible penetration before overlap has been resolved and the contact has been stabilized.

Consider using a higher damping ratio if contacts seem too soft. Note that making the value too large can cause instability.

Default: 10.0.

§contact_frequency_factor: Scalar

Scales the frequency used for contacts. A higher frequency makes contact responses faster and reduces visible springiness, but can hurt stability.

The solver computes the frequency using the time step and substep count, and limits the maximum frequency to be at most half of the time step due to Nyquist’s theorem. This factor scales the resulting frequency, which can lead to unstable behavior if the factor is too large.

Default: 1.5

§max_overlap_solve_speed: Scalar

The maximum speed at which overlapping bodies are pushed apart by the solver.

With a small value, overlap is resolved gently and gradually, while large values can result in more snappy behavior.

This is implicitly scaled by the PhysicsLengthUnit.

Default: 4.0

§warm_start_coefficient: Scalar

The coefficient in the [0, 1] range applied to warm start impulses.

Warm starting uses the impulses from the previous frame as the initial solution for the current frame. This helps the solver reach the desired state much faster, meaning that convergence is improved.

The coefficient should typically be set to 1.0.

Default: 1.0

§restitution_threshold: Scalar

The minimum speed along the contact normal in units per second for restitution to be applied.

An appropriate threshold should typically be small enough that objects keep bouncing until the bounces are effectively unnoticeable, but large enough that restitution is not applied unnecessarily, improving performance and stability.

This is implicitly scaled by the PhysicsLengthUnit.

Default: 1.0

§restitution_iterations: usize

The number of iterations used for applying restitution.

A higher number of iterations can result in more accurate bounces, but it only makes a difference when there are more than one contact point.

For example, with just one iteration, a cube falling flat on the ground might bounce and rotate to one side, because the impulses are applied to the corners sequentially, and some of the impulses are likely to be larger than the others. With multiple iterations, the impulses are applied more evenly.

Default: 1

Trait Implementations§

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impl Clone for SolverConfig

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fn clone(&self) -> SolverConfig

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for SolverConfig

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more
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impl Default for SolverConfig

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fn default() -> Self

Returns the “default value” for a type. Read more
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impl FromReflect for SolverConfig
where SolverConfig: Any + Send + Sync, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

Constructs a concrete instance of Self from a reflected value.
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fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails. Read more
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impl GetTypeRegistration for SolverConfig
where SolverConfig: Any + Send + Sync, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.
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fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type. Read more
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impl PartialEq for SolverConfig

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fn eq(&self, other: &SolverConfig) -> bool

Tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl PartialReflect for SolverConfig
where SolverConfig: Any + Send + Sync, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value. Read more
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Clones the value as a Reflect trait object. Read more
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fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value. Read more
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Returns a zero-sized enumeration of “kinds” of type. Read more
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Returns a “partial equality” comparison result. Read more
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Applies a reflected value to this value. Read more
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Returns a hash of the value (which includes the type). Read more
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fn debug(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Debug formatter for the value. Read more
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Returns a serializable version of the value. Read more
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fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type. Read more
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impl Reflect for SolverConfig
where SolverConfig: Any + Send + Sync, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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fn into_any(self: Box<Self>) -> Box<dyn Any>

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Casts this type to a mutable, fully-reflected value.
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fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value. Read more
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impl Struct for SolverConfig
where SolverConfig: Any + Send + Sync, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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fn field(&self, name: &str) -> Option<&dyn PartialReflect>

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Returns a reference to the value of the field with index index as a &dyn PartialReflect.
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Returns a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.
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Returns the name of the field with index index.
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Returns the number of fields in the struct.
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Clones the struct into a DynamicStruct.
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fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.
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impl TypePath for SolverConfig

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fn type_path() -> &'static str

Returns the fully qualified path of the underlying type. Read more
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Returns a short, pretty-print enabled path to the type. Read more
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fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous. Read more
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impl Typed for SolverConfig
where SolverConfig: Any + Send + Sync, Scalar: FromReflect + TypePath + MaybeTyped + RegisterForReflection, usize: FromReflect + TypePath + MaybeTyped + RegisterForReflection,

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fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.
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impl Resource for SolverConfig
where Self: Send + Sync + 'static,

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impl StructuralPartialEq for SolverConfig

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