R3IntegrationParameters Struct Reference

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

#include <rapier.h>

Data Fields
R3Real	dt
	Simulation step duration in seconds.
R3Real	minCcdDt
	Minimum CCD substep duration in seconds.
struct R3SpringCoefficients	contactSoftness
	Spring coefficients for dynamic contact constraints.
struct R3SpringCoefficients	staticContactSoftness
	Spring coefficients for contacts against fixed bodies.
R3Real	warmstartCoefficient
	Scale applied to cached impulses when warmstarting.
R3Real	lengthUnit
	Typical world-space length of one meter; scales solver tolerances, not geometry.
struct R3SoftBodiesSettings	softBodies
	Soft-body integration and recovery settings.
R3Real	normalizedAllowedLinearError
	Allowed penetration divided by lengthUnit.
R3Real	normalizedMaxCorrectiveVelocity
	Maximum penetration-correction speed divided by lengthUnit.
R3Real	normalizedPredictionDistance
	Speculative-contact distance divided by lengthUnit.
R3Real	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.
R3Bool	contactClustering
	Whether to cluster contacts for solving.
R3Bool	contactRecycling
	Whether to reuse nearby contacts between steps.
R3Real	normalizedContactRecycleDistance
	Contact recycling distance divided by lengthUnit.
R3Bool	frictionInBiasPass
	Whether to solve friction in the bias pass.
R3Bool	warmstartJoints
	Whether to warmstart joint constraints.
uint32_t	frictionModel
	Friction model of rigid-body contacts, R3_FRICTION_MODEL_* (3D only).

Detailed Description

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

No destructor.

Field Documentation

contactClustering

R3Bool R3IntegrationParameters::contactClustering

Whether to cluster contacts for solving.

contactRecycling

R3Bool R3IntegrationParameters::contactRecycling

Whether to reuse nearby contacts between steps.

contactSoftness

struct R3SpringCoefficients R3IntegrationParameters::contactSoftness

Spring coefficients for dynamic contact constraints.

dt

R3Real R3IntegrationParameters::dt

Simulation step duration in seconds.

frictionInBiasPass

R3Bool R3IntegrationParameters::frictionInBiasPass

Whether to solve friction in the bias pass.

frictionModel

uint32_t R3IntegrationParameters::frictionModel

Friction model of rigid-body contacts, R3_FRICTION_MODEL_* (3D only).

lengthUnit

R3Real R3IntegrationParameters::lengthUnit

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

maxCcdSubsteps

size_t R3IntegrationParameters::maxCcdSubsteps

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

minCcdDt

R3Real R3IntegrationParameters::minCcdDt

Minimum CCD substep duration in seconds.

normalizedAllowedLinearError

R3Real R3IntegrationParameters::normalizedAllowedLinearError

Allowed penetration divided by lengthUnit.

normalizedContactRecycleDistance

R3Real R3IntegrationParameters::normalizedContactRecycleDistance

Contact recycling distance divided by lengthUnit.

normalizedMaxCorrectiveVelocity

R3Real R3IntegrationParameters::normalizedMaxCorrectiveVelocity

Maximum penetration-correction speed divided by lengthUnit.

normalizedMaxLinearVelocity

R3Real R3IntegrationParameters::normalizedMaxLinearVelocity

Maximum linear speed divided by lengthUnit.

normalizedPredictionDistance

R3Real R3IntegrationParameters::normalizedPredictionDistance

Speculative-contact distance divided by lengthUnit.

numInternalPgsIterations

size_t R3IntegrationParameters::numInternalPgsIterations

PGS iterations per solver substep; must be positive.

numInternalStabilizationIterations

size_t R3IntegrationParameters::numInternalStabilizationIterations

Stabilization iterations after velocity solving.

numSolverIterations

size_t R3IntegrationParameters::numSolverIterations

Number of solver substeps/iterations; must be positive.

softBodies

struct R3SoftBodiesSettings R3IntegrationParameters::softBodies

Soft-body integration and recovery settings.

staticContactSoftness

struct R3SpringCoefficients R3IntegrationParameters::staticContactSoftness

Spring coefficients for contacts against fixed bodies.

warmstartCoefficient

R3Real R3IntegrationParameters::warmstartCoefficient

Scale applied to cached impulses when warmstarting.

warmstartJoints

R3Bool R3IntegrationParameters::warmstartJoints

Whether to warmstart joint constraints.

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

• rapier.h