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## Control : PhysicalControl

This class is included as part of the file PhysicalControl.tz.
To use this class in a simulation, include the line "@use PhysicalControl."

### Class description:

> The PhysicalControl class is a subclass of Control which must be used for physical simulations. It activates a number of features required for physical simulation and sets a number of variables to reasonable values.

### Class methods:

> - disable-fast-physics
> - double-gravity
> - enable-fast-physics
> - full-gravity
> - half-gravity
> - set-cfm
> - set-erp
> - set-fast-physics-iterations
> - set-gravity
> - zero-gravity

`disable-fast-physics`

> Returns to the default physics simulation. This is slower, but more accurate than fast physics, which are enabled using enable-fast-physics.

`double-gravity`

> Sets gravity in the simulated world to double the regular gravity of earth.

`enable-fast-physics`

> This alternative physical simulation is faster, but less accurate than the default physical simulation. Though it will not work well for all simulations, you can see a large boost in performance by enabling it. Fast physics can be turned off using disable-fast-physics.

`full-gravity`

> Sets gravity in the simulated world to the regular gravity of earth.

`half-gravity`

> Sets gravity in the simulated world to half the regular gravity of earth.

`set-cfm to cfmValue (float)`

> Sets the constraint force mixing paremter for the world. See the ODE physics engine documentation for more details.

`set-erp to erpValue (float)`

> Sets the error correction parameter for the world. See the ODE physics engine documentation for more details.

`set-fast-physics-iterations to iterations (int)`

> Sets the iterations parameter for the fast physics algorithm. This parameter can be tuned to give better speed or better accuracy. The default value is 40.

`set-gravity to newGravity (vector)`

> Sets the gravity affecting a physical world to newGravity. If you simply want a realistic earth-like gravity, use the convenience method full-gravity.

`zero-gravity`

> Turns off gravity in the simulated world.

Documentation created Fri Aug 8 15:16:49 2008