Source code for isaaclab_ov.physics.ovphysx_manager_cfg

# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

"""Configuration for the OvPhysX physics manager."""

from __future__ import annotations

from isaaclab.physics import PhysicsCfg
from isaaclab.utils.configclass import configclass




@configclass
class OvPhysxCfg(PhysicsCfg):
    """Configuration for the ovphysx physics manager.

    PhysX scene-level parameters (solver iterations, GPU buffer sizes, etc.) are
    read from the USD PhysicsScene prim.  Only ovphysx-specific settings that are
    not captured in USD live here.
    """

    class_type = "{DIR}.ovphysx_manager:OvPhysxManager"

    enable_enhanced_determinism: bool = False
    """Enable/disable improved determinism at the expense of performance. Defaults to False.

    For more information on PhysX determinism, please check `here`_.

    .. _here: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/RigidBodyDynamics.html#enhanced-determinism
    """

    enable_external_forces_every_iteration: bool = False
    """Enable/disable external forces every position iteration in the TGS solver. Default is False.

    This can help improve the accuracy of velocity updates. Consider enabling this flag if the
    velocities generated by the simulation are noisy.
    """

    gpu_max_rigid_contact_count: int = 2**23
    """Size of the GPU rigid-body contact buffer."""

    gpu_max_rigid_patch_count: int = 5 * 2**15
    """Size of the GPU rigid-body patch buffer."""

    gpu_found_lost_pairs_capacity: int = 2**21
    """Capacity for GPU found/lost broadphase pairs."""

    gpu_found_lost_aggregate_pairs_capacity: int = 2**25
    """Capacity for GPU found/lost *aggregate* broadphase pairs."""

    gpu_total_aggregate_pairs_capacity: int = 2**21
    """Capacity for total GPU aggregate broadphase pairs."""

    gpu_collision_stack_size: int = 2**26
    """GPU collision stack size in bytes."""