[[en/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)