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Klamp't
0.9.0
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Global simulator settings. More...
#include <ODESimulator.h>
Public Attributes | |
| double | gravity [3] |
| The gravity vector. | |
| bool | autoDisable |
| Whether to use ODE's auto-disable functionality for non-moving objects. | |
| double | defaultEnvPadding |
| The default collision padding for environments. | |
| ODESurfaceProperties | defaultEnvSurface |
| The default surface property for environments. | |
| bool | boundaryLayerCollisions |
| If true, uses boundary layers for collision detection (recommended true) | |
| bool | rigidObjectCollisions |
| If true, rigid objects collide with one another (default true) | |
| bool | robotSelfCollisions |
| If true, robot self-collisions are detected (default false) | |
| bool | robotRobotCollisions |
| If true, robots can collide with other robots (default false) | |
| bool | adaptiveTimeStepping |
| double | minimumAdaptiveTimeStep |
| The minimum time step used by adaptive time stepping (default 1e-6) | |
| int | maxContacts |
| double | clusterNormalScale |
| double | errorReductionParameter |
| ODE's global ERP parameter. | |
| double | dampedLeastSquaresParameter |
| ODE's global DLS parameter. | |
| double | instabilityConstantEnergyThreshold |
| double | instabilityLinearEnergyThreshold |
| double | instabilityMaxEnergyThreshold |
| double | instabilityPostCorrectionEnergy |
Global simulator settings.
| bool Klampt::ODESimulatorSettings::adaptiveTimeStepping |
If true, difficult collision situations are resolved using new adaptive time stepping methods (default true)
NOTE: adaptiveTimeStepping and autoDisable should not be on at the same time! Disabling does weird stuff.
| double Klampt::ODESimulatorSettings::clusterNormalScale |
During contact clustering, the metric for determining "nearby" contacts uses this weight to scale distances in normal space. Distance in position space have weight 1. (default 0.1)
| double Klampt::ODESimulatorSettings::instabilityConstantEnergyThreshold |
If kinetic energy grows too much from step to step, instability correction is triggered. Specifically it turns on if KE[t+1] > instabilityLinearEnergyThreshold*KE[t]+instabilityConstantEnergyThreshold KE[t+1] > instabilityMaxEnergyThreshold for any object. Default values are 1, 1.5, and 100000.
| double Klampt::ODESimulatorSettings::instabilityPostCorrectionEnergy |
The kinetic energy threshold enforced for any body going unstable. negative values -c means scale current kinetic energy by c. 0 means set velocity to 0. Positive values are constants * threshold. (default -0.9)
| int Klampt::ODESimulatorSettings::maxContacts |
Maximum number of contacts between each pair of objects after clustering. Larger values slow down collision detection (default 20)
1.8.11