File: gazebo/ODEPhysics.msg
bool auto_disable_bodies # enable auto disabling of bodies, default false
uint32 sor_pgs_iters # inner iterations when uisng projected Gauss Seidel
float64 sor_pgs_w # relaxation parameter when using projected Gauss Seidel, 1 = no relaxation
float64 contact_surface_layer # contact "dead-band" width
float64 contact_max_correcting_vel # contact maximum correction velocity
float64 cfm # global constraint force mixing
float64 erp # global error reduction parameter
uint32 max_contacts # maximum contact joints between two geoms
Expanded Definition
bool auto_disable_bodies
uint32 sor_pgs_iters
float64 sor_pgs_w
float64 contact_surface_layer
float64 contact_max_correcting_vel
float64 cfm
float64 erp
uint32 max_contacts