Struct avian3d::dynamics::solver::SolverConfig

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,
}

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.

Fields

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

impl Clone for SolverConfig

fn clone(&self) -> SolverConfig

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for SolverConfig

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

Formats the value using the given formatter.

impl Default for SolverConfig

fn default() -> Self

Returns the “default value” for a type.

impl FromReflect for SolverConfig

where Self: Any + Send + Sync, Scalar: FromReflect + TypePath + RegisterForReflection, usize: FromReflect + TypePath + RegisterForReflection,

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

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn Reflect> ) -> Result<Self, Box<dyn Reflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for SolverConfig

where Self: Any + Send + Sync, Scalar: FromReflect + TypePath + RegisterForReflection, usize: FromReflect + TypePath + RegisterForReflection,

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl PartialEq for SolverConfig

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

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Reflect for SolverConfig

where Self: Any + Send + Sync, Scalar: FromReflect + TypePath + RegisterForReflection, usize: FromReflect + TypePath + RegisterForReflection,

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

Returns the TypeInfo of the type represented by this value.

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

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable reflected value.

fn clone_value(&self) -> Box<dyn Reflect>

Clones the value as a Reflect trait object.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

fn try_apply(&mut self, value: &dyn Reflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn reflect_partial_eq(&self, value: &dyn Reflect) -> Option<bool>

Returns a “partial equality” comparison result.

fn apply(&mut self, value: &(dyn Reflect + 'static))

Applies a reflected value to this value.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

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

Debug formatter for the value.

fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value.

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Struct for SolverConfig

where Self: Any + Send + Sync, Scalar: FromReflect + TypePath + RegisterForReflection, usize: FromReflect + TypePath + RegisterForReflection,

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

Returns a reference to the value of the field named name as a &dyn Reflect.

fn field_mut(&mut self, name: &str) -> Option<&mut dyn Reflect>

Returns a mutable reference to the value of the field named name as a &mut dyn Reflect.

fn field_at(&self, index: usize) -> Option<&dyn Reflect>

Returns a reference to the value of the field with index index as a &dyn Reflect.

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn Reflect>

Returns a mutable reference to the value of the field with index index as a &mut dyn Reflect.

fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.

impl TypePath for SolverConfig

where Self: Any + Send + Sync,

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for SolverConfig

where Self: Any + Send + Sync, Scalar: FromReflect + TypePath + RegisterForReflection, usize: FromReflect + TypePath + RegisterForReflection,

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.

impl Resource for SolverConfig

where Self: Send + Sync + 'static,

impl StructuralPartialEq for SolverConfig