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feat: make the constraints regularization coefficients configurable with angular frequency instead of explicit ERP

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This commit is contained in:
Sébastien Crozet
2024-05-25 11:05:00 +02:00
committed by Sébastien Crozet
parent 62379de9ec
commit fdd935dbf1
8 changed files with 131 additions and 63 deletions
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33
src_testbed/ui.rs
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@@ -162,7 +162,7 @@ pub fn update_ui(
ui.add(
Slider::new(
&mut integration_parameters.num_internal_stabilization_iterations,
1..=100,
0..=100,
)
.text("max internal stabilization iters."),
);
@@ -170,12 +170,35 @@ pub fn update_ui(
Slider::new(&mut integration_parameters.warmstart_coefficient, 0.0..=1.0)
.text("warmstart coefficient"),
);
ui.add(Slider::new(&mut integration_parameters.erp, 0.0..=1.0).text("erp"));
let mut substep_params = *integration_parameters;
substep_params.dt /= substep_params.num_solver_iterations.get() as f32;
let curr_erp = substep_params.erp();
let curr_cfm_factor = substep_params.cfm_factor();
ui.add(
Slider::new(&mut integration_parameters.damping_ratio, 0.0..=20.0)
.text("damping ratio"),
Slider::new(
&mut integration_parameters.contact_natural_frequency,
0.0..=120.0,
)
.text(format!("contacts Hz (erp = {:.3})", curr_erp)),
);
ui.add(
Slider::new(
&mut integration_parameters.contact_damping_ratio,
0.0..=20.0,
)
.text(format!(
"damping ratio (cfm-factor = {:.3})",
curr_cfm_factor
)),
);
ui.add(
Slider::new(
&mut integration_parameters.joint_natural_frequency,
0.0..=1200000.0,
)
.text("joint erp"),
);
ui.add(Slider::new(&mut integration_parameters.joint_erp, 0.0..=1.0).text("joint erp"));
ui.add(
Slider::new(&mut integration_parameters.joint_damping_ratio, 0.0..=20.0)
.text("joint damping ratio"),