Functions | |
ODE_API dWorldID | dWorldCreate (void) |
Create a new, empty world and return its ID number. | |
ODE_API void | dWorldDestroy (dWorldID world) |
Destroy a world and everything in it. | |
ODE_API void | dWorldSetGravity (dWorldID, dReal x, dReal y, dReal z) |
Set the world's global gravity vector. | |
ODE_API void | dWorldGetGravity (dWorldID, dVector3 gravity) |
Get the gravity vector for a given world. | |
ODE_API void | dWorldSetERP (dWorldID, dReal erp) |
Set the global ERP value, that controls how much error correction is performed in each time step. | |
ODE_API dReal | dWorldGetERP (dWorldID) |
Get the error reduction parameter. | |
ODE_API void | dWorldSetCFM (dWorldID, dReal cfm) |
Set the global CFM (constraint force mixing) value. | |
ODE_API dReal | dWorldGetCFM (dWorldID) |
Get the constraint force mixing value. | |
ODE_API void | dWorldStep (dWorldID, dReal stepsize) |
Step the world. | |
ODE_API void | dWorldImpulseToForce (dWorldID, dReal stepsize, dReal ix, dReal iy, dReal iz, dVector3 force) |
Converts an impulse to a force. | |
ODE_API void | dWorldQuickStep (dWorldID w, dReal stepsize) |
Step the world. | |
ODE_API void | dWorldSetQuickStepNumIterations (dWorldID, int num) |
Set the number of iterations that the QuickStep method performs per step. | |
ODE_API int | dWorldGetQuickStepNumIterations (dWorldID) |
Get the number of iterations that the QuickStep method performs per step. | |
ODE_API void | dWorldSetQuickStepW (dWorldID, dReal over_relaxation) |
Set the SOR over-relaxation parameter. | |
ODE_API dReal | dWorldGetQuickStepW (dWorldID) |
Get the SOR over-relaxation parameter. | |
ODE_API void | dWorldSetContactMaxCorrectingVel (dWorldID, dReal vel) |
Set the maximum correcting velocity that contacts are allowed to generate. | |
ODE_API dReal | dWorldGetContactMaxCorrectingVel (dWorldID) |
Get the maximum correcting velocity that contacts are allowed to generated. | |
ODE_API void | dWorldSetContactSurfaceLayer (dWorldID, dReal depth) |
Set the depth of the surface layer around all geometry objects. | |
ODE_API dReal | dWorldGetContactSurfaceLayer (dWorldID) |
Get the depth of the surface layer around all geometry objects. | |
ODE_API void | dWorldStepFast1 (dWorldID, dReal stepsize, int maxiterations) |
Step the world using the StepFast1 algorithm. |
All the objects in a world exist at the same point in time, thus one reason to use separate worlds is to simulate systems at different rates. Most applications will only need one world.
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Create a new, empty world and return its ID number.
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Destroy a world and everything in it. This includes all bodies, and all joints that are not part of a joint group. Joints that are part of a joint group will be deactivated, and can be destroyed by calling, for example, dJointGroupEmpty().
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Get the constraint force mixing value.
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Get the depth of the surface layer around all geometry objects.
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Get the error reduction parameter.
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Get the number of iterations that the QuickStep method performs per step.
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Get the SOR over-relaxation parameter.
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Converts an impulse to a force.
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Step the world.
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Set the global CFM (constraint force mixing) value.
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Set the maximum correcting velocity that contacts are allowed to generate.
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Set the depth of the surface layer around all geometry objects.
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Set the global ERP value, that controls how much error correction is performed in each time step.
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Set the world's global gravity vector. The units are m/s^2, so Earth's gravity vector would be (0,0,-9.81), assuming that +z is up. The default is no gravity, i.e. (0,0,0). |
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Set the number of iterations that the QuickStep method performs per step.
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Set the SOR over-relaxation parameter.
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Step the world. This uses a "big matrix" method that takes time on the order of m^3 and memory on the order of m^2, where m is the total number of constraint rows. For large systems this will use a lot of memory and can be very slow, but this is currently the most accurate method.
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Step the world using the StepFast1 algorithm.
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