Functions | |
ODE_API void | dWorldSetAutoEnableDepthSF1 (dWorldID, int autoEnableDepth) |
Set the AutoEnableDepth parameter used by the StepFast1 algorithm. | |
ODE_API int | dWorldGetAutoEnableDepthSF1 (dWorldID) |
Get the AutoEnableDepth parameter used by the StepFast1 algorithm. | |
ODE_API dReal | dWorldGetAutoDisableLinearThreshold (dWorldID) |
Get auto disable linear threshold for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold) |
Set auto disable linear threshold for newly created bodies. | |
ODE_API dReal | dWorldGetAutoDisableAngularThreshold (dWorldID) |
Get auto disable angular threshold for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold) |
Set auto disable angular threshold for newly created bodies. | |
ODE_API dReal | dWorldGetAutoDisableLinearAverageThreshold (dWorldID) |
Get auto disable linear average threshold for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold) |
Set auto disable linear average threshold for newly created bodies. | |
ODE_API dReal | dWorldGetAutoDisableAngularAverageThreshold (dWorldID) |
Get auto disable angular average threshold for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold) |
Set auto disable angular average threshold for newly created bodies. | |
ODE_API int | dWorldGetAutoDisableAverageSamplesCount (dWorldID) |
Get auto disable sample count for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count) |
Set auto disable average sample count for newly created bodies. | |
ODE_API int | dWorldGetAutoDisableSteps (dWorldID) |
Get auto disable steps for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableSteps (dWorldID, int steps) |
Set auto disable steps for newly created bodies. | |
ODE_API dReal | dWorldGetAutoDisableTime (dWorldID) |
Get auto disable time for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableTime (dWorldID, dReal time) |
Set auto disable time for newly created bodies. | |
ODE_API int | dWorldGetAutoDisableFlag (dWorldID) |
Get auto disable flag for newly created bodies. | |
ODE_API void | dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable) |
Set auto disable flag for newly created bodies. | |
ODE_API dReal | dBodyGetAutoDisableLinearThreshold (dBodyID) |
Get auto disable linear average threshold. | |
ODE_API void | dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold) |
Set auto disable linear average threshold. | |
ODE_API dReal | dBodyGetAutoDisableAngularThreshold (dBodyID) |
Get auto disable angular average threshold. | |
ODE_API void | dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold) |
Set auto disable angular average threshold. | |
ODE_API int | dBodyGetAutoDisableAverageSamplesCount (dBodyID) |
Get auto disable average size (samples count). | |
ODE_API void | dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count) |
Set auto disable average buffer size (average steps). | |
ODE_API int | dBodyGetAutoDisableSteps (dBodyID) |
Get auto steps a body must be thought of as idle to disable. | |
ODE_API void | dBodySetAutoDisableSteps (dBodyID, int steps) |
Set auto disable steps. | |
ODE_API dReal | dBodyGetAutoDisableTime (dBodyID) |
Get auto disable time. | |
ODE_API void | dBodySetAutoDisableTime (dBodyID, dReal time) |
Set auto disable time. | |
ODE_API int | dBodyGetAutoDisableFlag (dBodyID) |
Get auto disable flag. | |
ODE_API void | dBodySetAutoDisableFlag (dBodyID, int do_auto_disable) |
Set auto disable flag. | |
ODE_API void | dBodySetAutoDisableDefaults (dBodyID) |
Set auto disable defaults. |
A disabled body that is connected through a joint to an enabled body will be automatically re-enabled at the next simulation step.
Disabled bodies do not consume CPU time, therefore to speed up the simulation bodies should be disabled when they come to rest. This can be done automatically with the auto-disable feature.
If a body has its auto-disable flag turned on, it will automatically disable itself when
Thus, every body has six auto-disable parameters: an enabled flag, a idle step count, an idle time, linear/angular average velocity thresholds, and the average samples count.
Newly created bodies get these parameters from world.
ODE_API dReal dBodyGetAutoDisableAngularThreshold | ( | dBodyID | ) |
Get auto disable angular average threshold.
ODE_API int dBodyGetAutoDisableAverageSamplesCount | ( | dBodyID | ) |
Get auto disable average size (samples count).
ODE_API int dBodyGetAutoDisableFlag | ( | dBodyID | ) |
Get auto disable flag.
ODE_API dReal dBodyGetAutoDisableLinearThreshold | ( | dBodyID | ) |
Get auto disable linear average threshold.
ODE_API int dBodyGetAutoDisableSteps | ( | dBodyID | ) |
Get auto steps a body must be thought of as idle to disable.
ODE_API dReal dBodyGetAutoDisableTime | ( | dBodyID | ) |
Get auto disable time.
ODE_API void dBodySetAutoDisableAngularThreshold | ( | dBodyID | , | |
dReal | angular_average_threshold | |||
) |
Set auto disable angular average threshold.
ODE_API void dBodySetAutoDisableAverageSamplesCount | ( | dBodyID | , | |
unsigned int | average_samples_count | |||
) |
Set auto disable average buffer size (average steps).
average_samples_count | the nr of samples to review. |
ODE_API void dBodySetAutoDisableDefaults | ( | dBodyID | ) |
Set auto disable defaults.
ODE_API void dBodySetAutoDisableFlag | ( | dBodyID | , | |
int | do_auto_disable | |||
) |
Set auto disable flag.
do_auto_disable | 0 or 1 |
ODE_API void dBodySetAutoDisableLinearThreshold | ( | dBodyID | , | |
dReal | linear_average_threshold | |||
) |
Set auto disable linear average threshold.
ODE_API void dBodySetAutoDisableSteps | ( | dBodyID | , | |
int | steps | |||
) |
Set auto disable steps.
steps | the nr of steps. |
ODE_API void dBodySetAutoDisableTime | ( | dBodyID | , | |
dReal | time | |||
) |
Set auto disable time.
time | nr of seconds. |
ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold | ( | dWorldID | ) |
Get auto disable angular average threshold for newly created bodies.
ODE_API dReal dWorldGetAutoDisableAngularThreshold | ( | dWorldID | ) |
Get auto disable angular threshold for newly created bodies.
ODE_API int dWorldGetAutoDisableAverageSamplesCount | ( | dWorldID | ) |
Get auto disable sample count for newly created bodies.
ODE_API int dWorldGetAutoDisableFlag | ( | dWorldID | ) |
Get auto disable flag for newly created bodies.
ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold | ( | dWorldID | ) |
Get auto disable linear average threshold for newly created bodies.
ODE_API dReal dWorldGetAutoDisableLinearThreshold | ( | dWorldID | ) |
Get auto disable linear threshold for newly created bodies.
ODE_API int dWorldGetAutoDisableSteps | ( | dWorldID | ) |
Get auto disable steps for newly created bodies.
ODE_API dReal dWorldGetAutoDisableTime | ( | dWorldID | ) |
Get auto disable time for newly created bodies.
ODE_API void dWorldSetAutoDisableAngularAverageThreshold | ( | dWorldID | , | |
dReal | angular_average_threshold | |||
) |
Set auto disable angular average threshold for newly created bodies.
linear_average_threshold | default is 0.01 |
ODE_API void dWorldSetAutoDisableAngularThreshold | ( | dWorldID | , | |
dReal | angular_threshold | |||
) |
Set auto disable angular threshold for newly created bodies.
linear_threshold | default is 0.01 |
ODE_API void dWorldSetAutoDisableAverageSamplesCount | ( | dWorldID | , | |
unsigned int | average_samples_count | |||
) |
Set auto disable average sample count for newly created bodies.
average_samples_count | Default is 1, meaning only instantaneous velocity is used. Set to zero to disable sampling and thus prevent any body from auto-disabling. |
ODE_API void dWorldSetAutoDisableFlag | ( | dWorldID | , | |
int | do_auto_disable | |||
) |
Set auto disable flag for newly created bodies.
do_auto_disable | default is false. |
ODE_API void dWorldSetAutoDisableLinearAverageThreshold | ( | dWorldID | , | |
dReal | linear_average_threshold | |||
) |
Set auto disable linear average threshold for newly created bodies.
linear_average_threshold | default is 0.01 |
ODE_API void dWorldSetAutoDisableLinearThreshold | ( | dWorldID | , | |
dReal | linear_threshold | |||
) |
Set auto disable linear threshold for newly created bodies.
linear_threshold | default is 0.01 |
ODE_API void dWorldSetAutoDisableSteps | ( | dWorldID | , | |
int | steps | |||
) |
Set auto disable steps for newly created bodies.
steps | default is 10 |
ODE_API void dWorldSetAutoDisableTime | ( | dWorldID | , | |
dReal | time | |||
) |
Set auto disable time for newly created bodies.
time | default is 0 seconds |