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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 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 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 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: .. _option-o_margin:
@@ -511,10 +511,11 @@ adjust it properly through the XML.
.. _option-integrator: .. _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 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 integrators are the semi-implicit Euler method, the fixed-step 4-th order Runge Kutta method, the
the Implicit-in-velocity Euler method. 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: .. _option-collision: