CollisionSettingInfo

This allows the user to customize the collision checking system and can be fed into parameter collision_settings while configuring a Solver.

Parameter	Type	Description
d_max	float	A lower bound distance parameter that controls the distance that queries the collision detection between shapes. The distance by default is 0.3 meteres. This means that pairwise collision queries will only happen when two shapes are within 0.3 meters. Increasing/Decreasing the distance will result in a greater/smaller distance for the collision queries which will lead to greater/smaller number of collision queries
r	float	A scalar value between 0 and 1 that controls how cautious the collision estimate will be. The value is 0 by default which is the most cautious and accurate. The estimate will be more optimistic when the value approaches 1
a_max	float	A upper bound distance parameter that, similar to d_max, determines if a shape pair should be included or excluded in collision checking. The value is 2.0 meters by default. Increasing/Decreasing the distance will result in a greater/smaller distance for the collision queries which will lead to greater/smaller number of collision queries
time_budget	float	A time parameter that will be used in the collision checking. The value is 100 microseconds by default. Increase the value will result in a slower but more accurate proximity approximiation
timed	boolean	A boolean parameter that determines which routine will be used for collision checking. The value is true by default. Timed-limited routine will be used if true, error-limited routine will be used if false

Javascript

let collision_settings = {dMax : 0.3, r : 0.0, aMax : 2.0, timeBudget : 100, timed : true}

Python

CollisionSettingInfo(d_max = 0.3, r = 0.0, a_max = 2.0, time_budget = 100, timed = True),

Rust

let collision_settings = CollisionSettingInfo::new(0.3, 0.0, 2.0, 100, true);