76 lines
2.0 KiB
Plaintext
76 lines
2.0 KiB
Plaintext
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<sdf version="1.5">
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<world name="default">
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<!-- A ground plane -->
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<include>
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<uri>model://ground_plane</uri>
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</include>
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<physics name="preset_1" type="ode" default="true">
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<max_step_size>0.01</max_step_size>
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<ode>
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<solver>
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<min_step_size>0.001</min_step_size>
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<iters>50</iters>
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<sor>1.4</sor>
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<use_dynamic_moi_rescaling>1</use_dynamic_moi_rescaling>
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</solver>
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<constraints>
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<cfm>0.01</cfm>
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<erp>0.3</erp>
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<contact_max_correcting_vel>200</contact_max_correcting_vel>
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<contact_surface_layer>0.002</contact_surface_layer>
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</constraints>
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</ode>
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<simbody>
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<min_step_size>0.001</min_step_size>
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<accuracy>0.01</accuracy>
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<max_transient_velocity>0.001</max_transient_velocity>
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</simbody>
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<bullet>
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<solver>
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<min_step_size>0.001</min_step_size>
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<iters>50</iters>
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<sor>1.4</sor>
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</solver>
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<constraints>
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<cfm>0.01</cfm>
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<erp>0.3</erp>
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<split_impulse>false</split_impulse>
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<contact_surface_layer>0.002</contact_surface_layer>
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</constraints>
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</bullet>
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</physics>
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<physics name="preset_2" type="ode">
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<max_step_size>0.02</max_step_size>
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<ode>
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<solver>
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<min_step_size>0.002</min_step_size>
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<iters>100</iters>
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<sor>1.5</sor>
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</solver>
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<constraints>
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<cfm>0.02</cfm>
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<erp>0.6</erp>
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</constraints>
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</ode>
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</physics>
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<physics name="unused" type="ode" default="true">
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<max_step_size>0.04</max_step_size>
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<ode>
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<solver>
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<min_step_size>0.004</min_step_size>
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<iters>200</iters>
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<sor>1.3</sor>
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</solver>
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<constraints>
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<cfm>0.05</cfm>
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<erp>0.7</erp>
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</constraints>
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</ode>
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</physics>
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</world>
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</sdf>
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