novaphy.solvers.SolverFeatherstoneSettings¶
Settings struct for SolverFeatherstone. Tuned post-construction via
solver.settings.
Common Attributes¶
| Attribute | Description |
|---|---|
num_iterations |
Inner constraint solver iteration count. |
erp |
Error reduction parameter for soft constraints. |
cfm |
Constraint force mixing. |
linear_slop |
Linear penetration slop tolerance. |
warmstarting_factor |
Warm-start impulse scaling. |
restitution_threshold |
Velocity threshold below which restitution is suppressed. |
use_warmstarting |
Enable warm-starting. |
angular_damping |
Angular damping coefficient. |
update_mass_matrix_interval |
Mass-matrix rebuild cadence. |
friction_smoothing |
Smooths friction direction transitions. |
use_tile_gemm |
Use tiled GEMM path when available. |
fuse_cholesky |
Fuse Cholesky-related work where supported. |