unisim.backend.isaacsim.physx_solver.PhysxSolverConfig

class unisim.backend.isaacsim.physx_solver.PhysxSolverConfig[source]

Bases: object

The bounded, validated PhysX solver override set; None keeps defaults.

Parameters:

Methods

__init__([solver_position_iteration_count, ...])

configured_fields()

from_payload(payload)

Re-validate the worker-side INIT copy; unknown keys fail closed.

to_payload()

Attributes

bounce_threshold_velocity

contact_offset

gpu_max_rigid_contact_count

gpu_max_rigid_patch_count

max_depenetration_velocity

rest_offset

solver_position_iteration_count

solver_velocity_iteration_count

solver_position_iteration_count: int | None = None
solver_velocity_iteration_count: int | None = None
bounce_threshold_velocity: float | None = None
contact_offset: float | None = None
rest_offset: float | None = None
max_depenetration_velocity: float | None = None
gpu_max_rigid_contact_count: int | None = None
gpu_max_rigid_patch_count: int | None = None
configured_fields()[source]
Return type:

tuple[str, ...]

to_payload()[source]
Return type:

dict[str, Any]

classmethod from_payload(payload)[source]

Re-validate the worker-side INIT copy; unknown keys fail closed.

Parameters:

payload (Any)

Return type:

PhysxSolverConfig

__init__(solver_position_iteration_count=None, solver_velocity_iteration_count=None, bounce_threshold_velocity=None, contact_offset=None, rest_offset=None, max_depenetration_velocity=None, gpu_max_rigid_contact_count=None, gpu_max_rigid_patch_count=None)
Parameters: