From b536e46cc03b810b1cf9230488c2d2eb9acb356e Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Sun, 9 Apr 2023 02:05:21 -0700 Subject: [PATCH] Add `implicitfast` to XML reference. PiperOrigin-RevId: 522916631 Change-Id: Ica9261b7b84a3c269503a4ae21af251803c76b63 --- doc/XMLreference.rst | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst index 78edf72e..59925532 100644 --- a/doc/XMLreference.rst +++ b/doc/XMLreference.rst @@ -491,7 +491,7 @@ adjust it properly through the XML. damping in the joints implicitly – which improves stability and accuracy. It does not presently do this with body viscosity. Therefore, if the goal is merely to create a damped simulation (as opposed to modeling the specific effects of viscosity), we recommend using joint damping rather than body viscosity, or switching to the - :at:`implicit` integrator. + :at:`implicit` or :at:`implicitfast` integrators. .. _option-o_margin: @@ -511,10 +511,11 @@ adjust it properly through the XML. .. _option-integrator: -:at:`integrator`: :at-val:`[Euler, RK4, implicit], "Euler"` +:at:`integrator`: :at-val:`[Euler, RK4, implicit, implicitfast], "Euler"` This attribute selects the numerical :ref:`integrator ` to be used. Currently the available - integrators are the semi-implicit Euler method, the fixed-step 4-th order Runge Kutta method, and - the Implicit-in-velocity Euler method. + integrators are the semi-implicit Euler method, the fixed-step 4-th order Runge Kutta method, the + Implicit-in-velocity Euler method, and :at:`implicitfast`, which drops the Coriolis and centrifugal terms. See + :ref:`Numerical Integration` for more details. .. _option-collision: