raisim::rscene::Physics

struct · #include <raisim/Rscene.hpp>

Solver settings from the time_step, gravity, solver and contact_material records. applyPhysics() applies them.

Public attributes

timeStep

double timeStep

Simulation time step (s).

gravity

Vec3 gravity

Gravity in the world frame (m/s^2).

solverIterations

int solverIterations

Solver iteration count. Used as contactMaxIterations unless the file sets a non-default contact value.

solverTolerance

double solverTolerance

solverTolerance: used as contactThreshold unless the file sets a non-default contact value. erp, erp2: passed to World::setERP().

erp

double erp

erp2

double erp2

defaultFriction

double defaultFriction

Default material (friction, restitution, restitution threshold in m/s), passed to World::setDefaultMaterial().

defaultRestitution

double defaultRestitution

defaultRestitutionThreshold

double defaultRestitutionThreshold

defaultStaticFriction

double defaultStaticFriction

Default static friction coefficient and its transition speed (m/s).

defaultStaticFrictionVelocityThreshold

double defaultStaticFrictionVelocityThreshold

defaultRollingFriction

double defaultRollingFriction

Default rolling and spinning friction coefficients.

defaultSpinningFriction

double defaultSpinningFriction

contactAlphaInit

double contactAlphaInit

Contact solver alphas, passed to World::setContactSolverParam() (which ignores them).

contactAlphaMin

double contactAlphaMin

contactAlphaDecay

double contactAlphaDecay

contactMaxIterations

int contactMaxIterations

Maximum contact solver iterations, passed to World::setContactSolverParam().

contactThreshold

double contactThreshold

Contact solver termination threshold, passed to World::setContactSolverParam().

contact

::contact::ContactSettings contact

Contact detection settings, passed to World::setContactSettings().

sleepingEnabled

bool sleepingEnabled

See World::setSleepingEnabled().

sleepingLinearVelocityThreshold

double sleepingLinearVelocityThreshold

Sleeping speed thresholds (m/s, rad/s), see World::setSleepingParameters().

sleepingAngularVelocityThreshold

double sleepingAngularVelocityThreshold

sleepingQuietSteps

int sleepingQuietSteps

Consecutive quiet steps before sleeping, see World::setSleepingParameters().

worldTime

double worldTime

Initial world time (s).

fixedContactSolverIterationOrder

bool fixedContactSolverIterationOrder

See World::setContactSolverIterationOrder().

contactMaterials

std::vector<ContactMaterial> contactMaterials

Material pairs, applied in file order after the default material.