raisim::contact::BisectionContactSolver::SolverConfiguration

struct · #include <raisim/contact/BisectionContactSolver.hpp>

Tuning parameters of the solver.

Public attributes

alpha_init

double alpha_init

Initial step size for the bisection solver (currently not used by the solver).

alpha_low

double alpha_low

Minimum step size for the bisection solver (currently not used by the solver).

alpha_decay

double alpha_decay

Step size decay factor (currently not used by the solver).

error_to_terminate

double error_to_terminate

Error threshold per constraint row; iterations stop when the total error falls below error_to_terminate * (number of rows).

erp

double erp

Position error correction gain (1/s): depth * erp is subtracted from the target normal velocity. Pins use a correction rate of clamp(0.2 * erp, 0, 0.3) / dt.

erp2

double erp2

Added to the coefficient of restitution when computing the target bounce velocity.

maxIteration

int maxIteration

Maximum number of solver iterations.

terrainWarmStart

bool terrainWarmStart

Seed mesh-soil contacts with the last converged traction on the same bed and link. Disable to compare against cold starts at the same tolerances.