novaphy.solvers.SolverFeatherstone.Config¶
Configuration object for
SolverFeatherstone. User code
constructs it through SolverFeatherstone.Config(). Its underlying pybind
type is named SolverFeatherstoneConfig, but that name is not re-exported
from the public novaphy.solvers namespace.
config = novaphy.solvers.SolverFeatherstone.Config()
config.angular_damping = 0.05
solver = novaphy.solvers.SolverFeatherstone(model, config)
Attributes¶
| Attribute | Description |
|---|---|
angular_damping |
Angular damping factor. |
update_mass_matrix_interval |
Mass-matrix refresh interval in steps. |
substeps |
Integration substeps per call. |
integrate_particles |
On CPU, advance model particles alongside rigid bodies; disable when an external soft-body solver owns them. |
pgs_iterations |
Velocity-level PGS contact iteration count. |
pgs_baumgarte |
Baumgarte stabilization for contact correction. |
pgs_slop |
Penetration slop tolerance. |
pgs_cfm |
Constraint force mixing. |
pgs_restitution_threshold |
Restitution cutoff velocity. |
pgs_warm_start |
Enable PGS warm starting. |
pgs_split_impulse |
Enable split-impulse correction. |