physics_config.hpp

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// Copyright (c) JSim contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the LGPLv3 license file in the root directory of this project.
 
#pragma once
 
#include "frcsim/math/vector.hpp"
#include "frcsim/math/quaternion.hpp"
 
namespace frcsim {

struct PhysicsConfig {
  double fixed_dt_s{0.01};

  Vector3 gravity_mps2{0.0, 0.0, -9.81};

  double linear_damping_per_s{0.0};
  double angular_damping_per_s{0.0};

  enum class IntegrationMethod {
    kSemiImplicitEuler,
    kExplicitEuler,
    kRK2,
  } integration_method{IntegrationMethod::kSemiImplicitEuler};

  bool enable_collision_detection{true};

  bool enable_joint_constraints{true};

  bool enable_aerodynamics{false};

  double default_drag_coefficient{0.47};

  double default_drag_reference_area_m2{0.01};

  double air_density_kgpm3{1.225};

  double magnus_coefficient{1.0e-4};

  double ground_height_m{0.0};

  double rolling_friction_per_s{1.5};

  double min_bounce_speed_mps{0.06};

  double baumgarte_beta{0.2};

  double baumgarte_slop_m{0.005};
};
 
}  // namespace frcsim