Klamp't
0.8.1
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Global simulator settings. More...
#include <ODESimulator.h>
Public Attributes | |
double | gravity [3] |
The gravity vector. | |
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 ODESimulatorSettings::adaptiveTimeStepping |
If true, difficult collision situations are resolved using new adaptive time stepping methods (default true)
double 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 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 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 ODESimulatorSettings::maxContacts |
Maximum number of contacts between each pair of objects after clustering. Larger values slow down collision detection (default 20)