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Add implicitfast to XML reference.

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PiperOrigin-RevId: 522916631
Change-Id: Ica9261b7b84a3c269503a4ae21af251803c76b63
This commit is contained in:
Yuval Tassa
2023-04-09 02:05:21 -07:00
committed by Copybara-Service
parent 9027b243b7
commit b536e46cc0
1 changed files with 5 additions and 4 deletions
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doc/XMLreference.rst
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@@ -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 <geIntegration>` 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<geIntegration>` for more details.
.. _option-collision: