v2.2.0

Version Information

new functions of v2.2.0 †

Controller API †

SimObj class †

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 †

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 †

Add the following function

• getCollisionState : Detection of collision by other parts

Parameters for world definition file †

Camera parameters †

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 †

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 †

• mu, mu2, slip1 slip2, soft_erp, soft_cfm, bounce_vel

refer the ODE manual

<collisionParam mu="0.2" mu2="0.1" .../>

Attribution of entity †

Add the following attribution

• graspable : Is it grasp or not?
• graspRadius : A threshold distance of grasping valid area

SIGViewer †

• bug of transparent object is fixed
• bug of service provider is fixed (freeze when Quit command is issued)