Runtime physics environment parameters. More...

#include <ball_physics.hpp>

Public Attributes
Vector3	gravity_mps2 {0.0, 0.0, -9.81}
double	effective_gravity_scale {1.0}
double	air_density_kgpm3 {1.225}
double	drag_scale {1.0}
double	magnus_coefficient {1e-4}
double	magnus_scale {1.0}
double	ground_height_m {0.0}
double	rolling_friction_per_s {1.2}
double	min_bounce_speed_mps {0.1}
double	max_substep_s {0.01}

Detailed Description

Runtime physics environment parameters.

Member Data Documentation

◆ air_density_kgpm3

double frcsim::BallPhysicsSim3D::Config::air_density_kgpm3 {1.225}

Air density used by drag force computation.

◆ drag_scale

double frcsim::BallPhysicsSim3D::Config::drag_scale {1.0}

Additional scale factor applied to drag force.

◆ effective_gravity_scale

double frcsim::BallPhysicsSim3D::Config::effective_gravity_scale {1.0}

Multiplier applied to gravity_mps2 after sanitization.

◆ gravity_mps2

Vector3 frcsim::BallPhysicsSim3D::Config::gravity_mps2 {0.0, 0.0, -9.81}

Constant gravity vector applied each integration substep.

◆ ground_height_m

double frcsim::BallPhysicsSim3D::Config::ground_height_m {0.0}

World Z height for the flat ground plane.

◆ magnus_coefficient

double frcsim::BallPhysicsSim3D::Config::magnus_coefficient {1e-4}

Coefficient used by Vector3::magnusForce.

◆ magnus_scale

double frcsim::BallPhysicsSim3D::Config::magnus_scale {1.0}

Additional scale factor applied to Magnus force.

◆ max_substep_s

double frcsim::BallPhysicsSim3D::Config::max_substep_s {0.01}

Maximum internal integration substep size.

◆ min_bounce_speed_mps

double frcsim::BallPhysicsSim3D::Config::min_bounce_speed_mps {0.1}

Minimum downward impact speed that triggers a bounce.

◆ rolling_friction_per_s

double frcsim::BallPhysicsSim3D::Config::rolling_friction_per_s {1.2}

Exponential-style planar speed decay while on ground, per second.

The documentation for this struct was generated from the following file:

src/main/driver/include/frcsim/gamepiece/ball_physics.hpp

Public Attributes