Functions
dReal	dWorldGetAutoDisableLinearThreshold (dWorldID)
	Get auto disable linear threshold for newly created bodies. More...

void	dWorldSetAutoDisableLinearThreshold (dWorldID, dReal linear_threshold)
	Set auto disable linear threshold for newly created bodies. More...

dReal	dWorldGetAutoDisableAngularThreshold (dWorldID)
	Get auto disable angular threshold for newly created bodies. More...

void	dWorldSetAutoDisableAngularThreshold (dWorldID, dReal angular_threshold)
	Set auto disable angular threshold for newly created bodies. More...

dReal	dWorldGetAutoDisableLinearAverageThreshold (dWorldID)
	Get auto disable linear average threshold for newly created bodies. More...

void	dWorldSetAutoDisableLinearAverageThreshold (dWorldID, dReal linear_average_threshold)
	Set auto disable linear average threshold for newly created bodies. More...

dReal	dWorldGetAutoDisableAngularAverageThreshold (dWorldID)
	Get auto disable angular average threshold for newly created bodies. More...

void	dWorldSetAutoDisableAngularAverageThreshold (dWorldID, dReal angular_average_threshold)
	Set auto disable angular average threshold for newly created bodies. More...

int	dWorldGetAutoDisableAverageSamplesCount (dWorldID)
	Get auto disable sample count for newly created bodies. More...

void	dWorldSetAutoDisableAverageSamplesCount (dWorldID, unsigned int average_samples_count)
	Set auto disable average sample count for newly created bodies. More...

int	dWorldGetAutoDisableSteps (dWorldID)
	Get auto disable steps for newly created bodies. More...

void	dWorldSetAutoDisableSteps (dWorldID, int steps)
	Set auto disable steps for newly created bodies. More...

dReal	dWorldGetAutoDisableTime (dWorldID)
	Get auto disable time for newly created bodies. More...

void	dWorldSetAutoDisableTime (dWorldID, dReal time)
	Set auto disable time for newly created bodies. More...

int	dWorldGetAutoDisableFlag (dWorldID)
	Get auto disable flag for newly created bodies. More...

void	dWorldSetAutoDisableFlag (dWorldID, int do_auto_disable)
	Set auto disable flag for newly created bodies. More...

dReal	dBodyGetAutoDisableLinearThreshold (dBodyID)
	Get auto disable linear average threshold. More...

void	dBodySetAutoDisableLinearThreshold (dBodyID, dReal linear_average_threshold)
	Set auto disable linear average threshold. More...

dReal	dBodyGetAutoDisableAngularThreshold (dBodyID)
	Get auto disable angular average threshold. More...

void	dBodySetAutoDisableAngularThreshold (dBodyID, dReal angular_average_threshold)
	Set auto disable angular average threshold. More...

int	dBodyGetAutoDisableAverageSamplesCount (dBodyID)
	Get auto disable average size (samples count). More...

void	dBodySetAutoDisableAverageSamplesCount (dBodyID, unsigned int average_samples_count)
	Set auto disable average buffer size (average steps). More...

int	dBodyGetAutoDisableSteps (dBodyID)
	Get auto steps a body must be thought of as idle to disable. More...

void	dBodySetAutoDisableSteps (dBodyID, int steps)
	Set auto disable steps. More...

dReal	dBodyGetAutoDisableTime (dBodyID)
	Get auto disable time. More...

void	dBodySetAutoDisableTime (dBodyID, dReal time)
	Set auto disable time. More...

int	dBodyGetAutoDisableFlag (dBodyID)
	Get auto disable flag. More...

void	dBodySetAutoDisableFlag (dBodyID, int do_auto_disable)
	Set auto disable flag. More...

void	dBodySetAutoDisableDefaults (dBodyID)
	Set auto disable defaults. More...

Detailed Description

Every body can be enabled or disabled. Enabled bodies participate in the simulation, while disabled bodies are turned off and do not get updated during a simulation step. New bodies are always created in the enabled state.

A disabled body that is connected through a joint to an enabled body will be automatically re-enabled at the next simulation step.

Disabled bodies do not consume CPU time, therefore to speed up the simulation bodies should be disabled when they come to rest. This can be done automatically with the auto-disable feature.

If a body has its auto-disable flag turned on, it will automatically disable itself when

It has been idle for a given number of simulation steps.
It has also been idle for a given amount of simulation time.

A body is considered to be idle when the magnitudes of both its linear average velocity and angular average velocity are below given thresholds. The sample size for the average defaults to one and can be disabled by setting to zero with

Thus, every body has six auto-disable parameters: an enabled flag, a idle step count, an idle time, linear/angular average velocity thresholds, and the average samples count.

Newly created bodies get these parameters from world.

Function Documentation

dReal dBodyGetAutoDisableAngularThreshold ( dBodyID )

Get auto disable angular average threshold.

Returns: the threshold

int dBodyGetAutoDisableAverageSamplesCount ( dBodyID )

Get auto disable average size (samples count).

Returns: the nr of steps/size.

int dBodyGetAutoDisableFlag ( dBodyID )

Get auto disable flag.

Returns: 0 or 1

dReal dBodyGetAutoDisableLinearThreshold ( dBodyID )

Get auto disable linear average threshold.

Returns: the threshold

int dBodyGetAutoDisableSteps ( dBodyID )

Get auto steps a body must be thought of as idle to disable.

Returns: the nr of steps

dReal dBodyGetAutoDisableTime ( dBodyID )

Get auto disable time.

Returns: nr of seconds

void dBodySetAutoDisableAngularThreshold	(	dBodyID	,
		dReal	angular_average_threshold
	)

Set auto disable angular average threshold.

Returns: the threshold

void dBodySetAutoDisableAverageSamplesCount	(	dBodyID	,
		unsigned int	average_samples_count
	)

Set auto disable average buffer size (average steps).

Parameters

average_samples_count the nr of samples to review.

void dBodySetAutoDisableDefaults ( dBodyID )

Set auto disable defaults.

Remarks: Set the values for the body to those set as default for the world.

void dBodySetAutoDisableFlag	(	dBodyID	,
		int	do_auto_disable
	)

Set auto disable flag.

Parameters

do_auto_disable 0 or 1

void dBodySetAutoDisableLinearThreshold	(	dBodyID	,
		dReal	linear_average_threshold
	)

Set auto disable linear average threshold.

Returns: the threshold

void dBodySetAutoDisableSteps	(	dBodyID	,
		int	steps
	)

Set auto disable steps.

Parameters

steps the nr of steps.

void dBodySetAutoDisableTime	(	dBodyID	,
		dReal	time
	)

Set auto disable time.

Parameters

time	nr of seconds.

dReal dWorldGetAutoDisableAngularAverageThreshold ( dWorldID )

Get auto disable angular average threshold for newly created bodies.

Returns: the threshold

dReal dWorldGetAutoDisableAngularThreshold ( dWorldID )

Get auto disable angular threshold for newly created bodies.

Returns: the threshold

int dWorldGetAutoDisableAverageSamplesCount ( dWorldID )

Get auto disable sample count for newly created bodies.

Returns: number of samples used

int dWorldGetAutoDisableFlag ( dWorldID )

Get auto disable flag for newly created bodies.

Returns: 0 or 1

dReal dWorldGetAutoDisableLinearAverageThreshold ( dWorldID )

Get auto disable linear average threshold for newly created bodies.

Returns: the threshold

dReal dWorldGetAutoDisableLinearThreshold ( dWorldID )

Get auto disable linear threshold for newly created bodies.

Returns: the threshold

int dWorldGetAutoDisableSteps ( dWorldID )

Get auto disable steps for newly created bodies.

Returns: nr of steps

dReal dWorldGetAutoDisableTime ( dWorldID )

Get auto disable time for newly created bodies.

Returns: nr of seconds

void dWorldSetAutoDisableAngularAverageThreshold	(	dWorldID	,
		dReal	angular_average_threshold
	)

Set auto disable angular average threshold for newly created bodies.

Parameters

linear_average_threshold default is 0.01

void dWorldSetAutoDisableAngularThreshold	(	dWorldID	,
		dReal	angular_threshold
	)

Set auto disable angular threshold for newly created bodies.

Parameters

linear_threshold default is 0.01

void dWorldSetAutoDisableAverageSamplesCount	(	dWorldID	,
		unsigned int	average_samples_count
	)

Set auto disable average sample count for newly created bodies.

Parameters

average_samples_count Default is 1, meaning only instantaneous velocity is used. Set to zero to disable sampling and thus prevent any body from auto-disabling.

void dWorldSetAutoDisableFlag	(	dWorldID	,
		int	do_auto_disable
	)

Set auto disable flag for newly created bodies.

Parameters

do_auto_disable default is false.

void dWorldSetAutoDisableLinearAverageThreshold	(	dWorldID	,
		dReal	linear_average_threshold
	)

Set auto disable linear average threshold for newly created bodies.

Parameters

linear_average_threshold default is 0.01

void dWorldSetAutoDisableLinearThreshold	(	dWorldID	,
		dReal	linear_threshold
	)

Set auto disable linear threshold for newly created bodies.

Parameters

linear_threshold default is 0.01

void dWorldSetAutoDisableSteps	(	dWorldID	,
		int	steps
	)

Set auto disable steps for newly created bodies.

Parameters

steps default is 10

void dWorldSetAutoDisableTime	(	dWorldID	,
		dReal	time
	)

Set auto disable time for newly created bodies.

Parameters

time	default is 0 seconds

Functions

Detailed Description

Function Documentation