Diff of v2.2.0 - SIGVerse Wiki

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[[Version Information]]

*new functions of v2.2.0 [#ef4028c3]
**Controller API [#f9561da2]
***SimObj class [#ec3a32e9]
Add the following functions
-getIsGrasped : Detection of the status being grasped by other entity
-setCollisionEnable
-getMainParts : Get main parts which doesn't have joint.


***Controller class [#j109a314]
Add the following functions
-worldStep : Progress 1 step of the dynamics simulation
-worldQuickStep : Progress 1 step of the dynamics simulation(Faster than worldStep, but rough accuracy)
-getSimulationTime

***CParts class [#u30c97f6]
Add the following function
-getCollisionState : Detection of collision by other parts

**Parameters for world definition file [#ce789ac1]

***Camera parameters [#n4479574]
Quaternion for camera direction is available
Example
     <camera id="1"
            link="LEYE_LINK"
            quaternion="0.707 0.0 0.0 0.707"/>

***SIGVerse World parameters [#se4d29b9]
Add the following parameters
-autostep : Progress the dynamics automatically
-quickstep : Fast dynamics mode, but not accurate (when autostep = true)
-stepsize : step width of dynamics time(when autostep = true)
-erp : Moduration for error of joint angle
-cfm : Softness of joint or ground

Example
 <worldParam autostep="true" quickstep="true" stepsize="0.01" erp="0.2" cfm="1e-8"/>

*** Parameter for collision [#a5cc7dc3]
-mu, mu2, slip1 slip2, soft_erp, soft_cfm, bounce_vel

refer the ODE manual
 <collisionParam mu="0.2" mu2="0.1" .../>

***Attribution of entity [#l918dfb5]
Add the following attribution
-graspable : Is it grasp or not?
-graspRadius : A threshold distance of grasping valid area

*SIGViewer [#qa3a003f]
- bug of transparent object is fixed
- bug of service provider is fixed (freeze when Quit command is issued)

#counter