novaphy.solvers.IPCConfig

Configuration object for SolverIPC. Resolves to None when the package is built without IPC.

Common Attributes

Attribute	Description
dt	Fixed time step expected by libuipc.
gravity	Gravity vector applied inside libuipc.
barrier_distance	IPC barrier distance threshold.
friction_coefficient	Global friction coefficient.

Example

import novaphy

if novaphy.has_ipc():
    cfg = novaphy.solvers.IPCConfig()
    cfg.dt = 1.0 / 60.0
    solver = novaphy.solvers.SolverIPC(model, cfg)

See Also

• SolverIPC
• has_ipc()