Configuration

SimulationConfig

SimulationConfig controls physics, contact tracking, and intervention settings. It is used by Box2DEngine and InterphyreEnv.

Key fields:

• fps, time_step, velocity_iters, position_iters
• gravity, do_sleep, continuous_collision_detection, substepping, continuous_physics, warm_starting
• track_all_contacts, track_relevant_contacts_only
• stationary_tolerance, stationary_check_frames, default_success_time, max_steps
• enable_interventions, intervention_max_snapshots, intervention_auto_cleanup
• enable_profiling, log_step_times

The same level under four physics configurations — default, low gravity, no friction, and high restitution:

Construction:

from interphyre.config import SimulationConfig
config = SimulationConfig(time_step=1/60, enable_interventions=True)

PerformanceProfiler

PerformanceProfiler tracks step timing, render timing, and contact update timing when profiling is enabled.

Common usage:

from interphyre.config import PerformanceProfiler
profiler = PerformanceProfiler(enabled=True)

The engine enables profiling automatically when SimulationConfig.enable_profiling is set.

Constants

• PRECISION: rounding precision used across the simulator.
• CONTACT_DISTANCE_TOLERANCE: tolerance used when validating contacts.