R2IntegrationParameters Struct Reference

Plain configuration data; initialize defaults, edit, then apply. More...

#include <rapier.h>

Data Fields
R2Real	dt
	Simulation step duration in seconds.
R2Real	minCcdDt
	Minimum CCD substep duration in seconds.
struct R2SpringCoefficients	contactSoftness
	Spring coefficients for dynamic contact constraints.
struct R2SpringCoefficients	staticContactSoftness
	Spring coefficients for contacts against fixed bodies.
R2Real	warmstartCoefficient
	Scale applied to cached impulses when warmstarting.
R2Real	lengthUnit
	Typical world-space length of one meter; scales solver tolerances, not geometry.
struct R2SoftBodiesSettings	softBodies
	Soft-body integration and recovery settings.
R2Real	normalizedAllowedLinearError
	Allowed penetration divided by lengthUnit.
R2Real	normalizedMaxCorrectiveVelocity
	Maximum penetration-correction speed divided by lengthUnit.
R2Real	normalizedPredictionDistance
	Speculative-contact distance divided by lengthUnit.
R2Real	normalizedMaxLinearVelocity
	Maximum linear speed divided by lengthUnit.
size_t	numSolverIterations
	Number of solver substeps/iterations; must be positive.
size_t	numInternalPgsIterations
	PGS iterations per solver substep; must be positive.
size_t	numInternalStabilizationIterations
	Stabilization iterations after velocity solving.
size_t	maxCcdSubsteps
	Maximum CCD substeps; 0 disables all CCD for the world.
R2Bool	contactClustering
	Whether to cluster contacts for solving.
R2Bool	contactRecycling
	Whether to reuse nearby contacts between steps.
R2Real	normalizedContactRecycleDistance
	Contact recycling distance divided by lengthUnit.
R2Bool	frictionInBiasPass
	Whether to solve friction in the bias pass.
R2Bool	warmstartJoints
	Whether to warmstart joint constraints.

Detailed Description

Plain configuration data; initialize defaults, edit, then apply.

No destructor.

Field Documentation

contactClustering

R2Bool R2IntegrationParameters::contactClustering

Whether to cluster contacts for solving.

contactRecycling

R2Bool R2IntegrationParameters::contactRecycling

Whether to reuse nearby contacts between steps.

contactSoftness

struct R2SpringCoefficients R2IntegrationParameters::contactSoftness

Spring coefficients for dynamic contact constraints.

dt

R2Real R2IntegrationParameters::dt

Simulation step duration in seconds.

frictionInBiasPass

R2Bool R2IntegrationParameters::frictionInBiasPass

Whether to solve friction in the bias pass.

lengthUnit

R2Real R2IntegrationParameters::lengthUnit

Typical world-space length of one meter; scales solver tolerances, not geometry.

maxCcdSubsteps

size_t R2IntegrationParameters::maxCcdSubsteps

Maximum CCD substeps; 0 disables all CCD for the world.

minCcdDt

R2Real R2IntegrationParameters::minCcdDt

Minimum CCD substep duration in seconds.

normalizedAllowedLinearError

R2Real R2IntegrationParameters::normalizedAllowedLinearError

Allowed penetration divided by lengthUnit.

normalizedContactRecycleDistance

R2Real R2IntegrationParameters::normalizedContactRecycleDistance

Contact recycling distance divided by lengthUnit.

normalizedMaxCorrectiveVelocity

R2Real R2IntegrationParameters::normalizedMaxCorrectiveVelocity

Maximum penetration-correction speed divided by lengthUnit.

normalizedMaxLinearVelocity

R2Real R2IntegrationParameters::normalizedMaxLinearVelocity

Maximum linear speed divided by lengthUnit.

normalizedPredictionDistance

R2Real R2IntegrationParameters::normalizedPredictionDistance

Speculative-contact distance divided by lengthUnit.

numInternalPgsIterations

size_t R2IntegrationParameters::numInternalPgsIterations

PGS iterations per solver substep; must be positive.

numInternalStabilizationIterations

size_t R2IntegrationParameters::numInternalStabilizationIterations

Stabilization iterations after velocity solving.

numSolverIterations

size_t R2IntegrationParameters::numSolverIterations

Number of solver substeps/iterations; must be positive.

softBodies

struct R2SoftBodiesSettings R2IntegrationParameters::softBodies

Soft-body integration and recovery settings.

staticContactSoftness

struct R2SpringCoefficients R2IntegrationParameters::staticContactSoftness

Spring coefficients for contacts against fixed bodies.

warmstartCoefficient

R2Real R2IntegrationParameters::warmstartCoefficient

Scale applied to cached impulses when warmstarting.

warmstartJoints

R2Bool R2IntegrationParameters::warmstartJoints

Whether to warmstart joint constraints.

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The documentation for this struct was generated from the following file:

• rapier.h