en/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)
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