novaphy.solvers.SolverSettings¶
Configuration struct for SolverSemiImplicit. Construct it through
SolverSemiImplicit.Config() or tune it post-construction through
solver.settings. SolverXPBD has its own XPBDSolverSettings type.
Common Attributes¶
| Attribute | Description |
|---|---|
velocity_iterations |
PGS velocity iteration count. |
warm_starting |
Enable warm-started accumulated impulses. |
sleep_enabled |
Enable body sleeping for static islands. |
baumgarte |
Baumgarte stabilization factor for penetration correction. |
slop |
Penetration slop tolerance. |
sleep_energy_threshold |
Kinetic-energy threshold for sleeping. |
sleep_time_required |
Time below threshold before a body may sleep. |
sleep_ema_alpha |
Energy exponential moving-average smoothing factor. |
Example¶
solver = novaphy.solvers.SolverSemiImplicit(model)
solver.settings.velocity_iterations = 30
solver.settings.warm_starting = True
solver.settings.sleep_enabled = True