Package jsim.core

Class SimConstants

java.lang.Object
jsim.core.SimConstants
public final class SimConstants extends Object
Simulation-wide constants. All values are SI (metres, kilograms, seconds).

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final double
    BAUMGARTE_BETA
    Baumgarte positional correction factor.
    static final double
    DEFAULT_DT
    Default fixed timestep in seconds (20 ms = 50 Hz, matching FRC robot loop).
    static final int
    DEFAULT_SOLVER_ITERATIONS
    Impulse solver iteration count per tick.
    static final double
    GRAVITY_X
    Default gravity vector X component (m/s²); zero for FRC field convention.
    static final double
    GRAVITY_Y
    Default gravity vector Y component (m/s²); zero for FRC field convention.
    static final double
    GRAVITY_Z
    Default gravity vector Z component (m/s²); negative Z = downward, FRC field convention.
    static final double
    PENETRATION_SLOP
    Minimum penetration before positional correction is applied (slop).
    static final double
    RESTITUTION_VELOCITY_THRESHOLD
    Relative velocity below this is treated as resting contact (no restitution).

  • Method Summary

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • DEFAULT_DT

      public static final double DEFAULT_DT
      Default fixed timestep in seconds (20 ms = 50 Hz, matching FRC robot loop).
      See Also:

    • GRAVITY_X

      public static final double GRAVITY_X
      Default gravity vector X component (m/s²); zero for FRC field convention.
      See Also:

    • GRAVITY_Y

      public static final double GRAVITY_Y
      Default gravity vector Y component (m/s²); zero for FRC field convention.
      See Also:

    • GRAVITY_Z

      public static final double GRAVITY_Z
      Default gravity vector Z component (m/s²); negative Z = downward, FRC field convention.
      See Also:

    • DEFAULT_SOLVER_ITERATIONS

      public static final int DEFAULT_SOLVER_ITERATIONS
      Impulse solver iteration count per tick. Higher = more accurate but slower.
      See Also:

    • BAUMGARTE_BETA

      public static final double BAUMGARTE_BETA
      Baumgarte positional correction factor. Fraction of penetration depth corrected per tick.
      See Also:

    • PENETRATION_SLOP

      public static final double PENETRATION_SLOP
      Minimum penetration before positional correction is applied (slop).
      See Also:

    • RESTITUTION_VELOCITY_THRESHOLD

      public static final double RESTITUTION_VELOCITY_THRESHOLD
      Relative velocity below this is treated as resting contact (no restitution).
      See Also: