|
Namespaces |
| namespace | opal |
| namespace | opal::globals |
| namespace | opal::defaults |
| namespace | opal::defaults::solid |
| namespace | opal::defaults::shape |
| namespace | opal::defaults::joint |
| namespace | opal::defaults::motor |
| namespace | opal::defaults::motor::attractor |
| namespace | opal::defaults::motor::geared |
| namespace | opal::defaults::motor::servo |
| namespace | opal::defaults::motor::spring |
| namespace | opal::defaults::sensor |
| namespace | opal::defaults::sensor::incline |
| namespace | opal::defaults::ode |
Classes |
| struct | opal::Force |
| struct | opal::Material |
Enumerations |
| enum | opal::ForceType {
opal::LOCAL_FORCE,
opal::GLOBAL_FORCE,
opal::LOCAL_TORQUE,
opal::GLOBAL_TORQUE,
opal::LOCAL_FORCE_AT_LOCAL_POS,
opal::LOCAL_FORCE_AT_GLOBAL_POS,
opal::GLOBAL_FORCE_AT_LOCAL_POS,
opal::GLOBAL_FORCE_AT_GLOBAL_POS
} |
| enum | opal::SolverAccuracyLevel {
opal::SOLVER_ACCURACY_VERY_LOW,
opal::SOLVER_ACCURACY_LOW,
opal::SOLVER_ACCURACY_MEDIUM,
opal::SOLVER_ACCURACY_HIGH,
opal::SOLVER_ACCURACY_VERY_HIGH
} |
| enum | opal::JointBreakMode { opal::UNBREAKABLE_MODE,
opal::THRESHOLD_MODE,
opal::ACCUMULATED_MODE
} |
| enum | opal::JointType {
opal::HINGE_JOINT,
opal::UNIVERSAL_JOINT,
opal::BALL_JOINT,
opal::SLIDER_JOINT,
opal::WHEEL_JOINT,
opal::FIXED_JOINT
} |
Variables |
| const unsigned int | opal::globals::maxMaxContacts = 128 |
| const real | opal::globals::metalHardness = (real)1.0 |
| const real | opal::globals::metalFriction = (real)0.7 |
| const real | opal::globals::metalBounciness = (real)0.05 |
| const real | opal::globals::metalDensity = (real)1.0 |
| const real | opal::globals::woodHardness = (real)0.8 |
| const real | opal::globals::woodFriction = (real)1.0 |
| const real | opal::globals::woodBounciness = (real)0.15 |
| const real | opal::globals::woodDensity = (real)0.2 |
| const real | opal::globals::rubberHardness = 0 |
| const real | opal::globals::rubberFriction = (real)1.0 |
| const real | opal::globals::rubberBounciness = (real)1.0 |
| const real | opal::globals::rubberDensity = (real)0.4 |
| const real | opal::globals::iceHardness = (real)1.0 |
| const real | opal::globals::iceFriction = 0 |
| const real | opal::globals::iceBounciness = (real)0.05 |
| const real | opal::globals::iceDensity = (real)0.25 |
| const Material | opal::globals::metalMaterial (metalHardness, metalFriction, metalBounciness, metalDensity) |
| const Material | opal::globals::woodMaterial (woodHardness, woodFriction, woodBounciness, woodDensity) |
| const Material | opal::globals::rubberMaterial (rubberHardness, rubberFriction, rubberBounciness, rubberDensity) |
| const Material | opal::globals::iceMaterial (iceHardness, iceFriction, iceBounciness, iceDensity) |
| const real | opal::defaults::stepSize = (real)0.0167 |
| const Vec3r | opal::defaults::gravity (0, 0, 0) |
| const real | opal::defaults::bounceThreshold = (real)1.0 |
| const SolverAccuracyLevel | opal::defaults::solverAccuracy = SOLVER_ACCURACY_MEDIUM |
| const bool | opal::defaults::staticSleepingContactsEnabled = false |
| const real | opal::defaults::maxCorrectingVel = (real)40.0 |
| const int | opal::defaults::maxContacts = (int)24 |
| const unsigned long int | opal::defaults::contactGroupFlags = 0xFFFFFFFF |
| const bool | opal::defaults::solid::enabled = true |
| const bool | opal::defaults::solid::sleeping = true |
| const real | opal::defaults::solid::sleepiness = (real)0.5 |
| const bool | opal::defaults::solid::isStatic = false |
| const real | opal::defaults::solid::linearDamping = (real)0.15 |
| const real | opal::defaults::solid::angularDamping = (real)0.15 |
| const Material | opal::defaults::shape::material = globals::woodMaterial |
| const unsigned int | opal::defaults::shape::contactGroup = 0 |
| const Vec3r | opal::defaults::shape::boxDimensions = Vec3r(1, 1, 1) |
| const real | opal::defaults::shape::sphereRadius = 1 |
| const real | opal::defaults::shape::capsuleRadius = 1 |
| const real | opal::defaults::shape::capsuleLength = 1 |
| const real | opal::defaults::shape::planeABCD [4] = {0, 1, 0, 0} |
| const JointType | opal::defaults::joint::type = HINGE_JOINT |
| const bool | opal::defaults::joint::enabled = true |
| const real | opal::defaults::joint::lowLimit = 0 |
| const real | opal::defaults::joint::highLimit = 0 |
| const real | opal::defaults::joint::limitHardness = (real)0.5 |
| const real | opal::defaults::joint::limitBounciness = (real)0.5 |
| const Vec3r | opal::defaults::joint::axis0Direction = Vec3r(1, 0, 0) |
| const Vec3r | opal::defaults::joint::axis1Direction = Vec3r(0, 1, 0) |
| const Vec3r | opal::defaults::joint::axis2Direction = Vec3r(0, 0, 1) |
| const bool | opal::defaults::joint::limitsEnabled = false |
| const Point3r | opal::defaults::joint::anchor = Point3r(0, 0, 0) |
| const JointBreakMode | opal::defaults::joint::breakMode = UNBREAKABLE_MODE |
| const real | opal::defaults::joint::breakThresh = (real)100.0 |
| const real | opal::defaults::joint::accumThresh = (real)1000.0 |
| const bool | opal::defaults::joint::contactsEnabled = false |
| const bool | opal::defaults::motor::enabled = true |
| const real | opal::defaults::motor::attractor::strength = (real)1.0 |
| const real | opal::defaults::motor::attractor::exponent = (real)1.0 |
| const real | opal::defaults::motor::geared::maxTorque = (real)10.0 |
| const real | opal::defaults::motor::geared::maxVelocity = (real)10.0 |
| const real | opal::defaults::motor::servo::maxTorque = (real)10.0 |
| const real | opal::defaults::motor::servo::restoreSpeed = (real)1.0 |
| const real | opal::defaults::motor::spring::linearKd = (real)0.1 |
| const real | opal::defaults::motor::spring::linearKs = (real)1.0 |
| const real | opal::defaults::motor::spring::angularKd = (real)0.1 |
| const real | opal::defaults::motor::spring::angularKs = (real)1.0 |
| const Vec3r | opal::defaults::motor::spring::desiredForward = Vec3r(0, 0, -1) |
| const Vec3r | opal::defaults::motor::spring::desiredUp = Vec3r(0, 1, 0) |
| const Vec3r | opal::defaults::motor::spring::desiredRight = Vec3r(1, 0, 0) |
| const bool | opal::defaults::sensor::enabled = true |
| const Vec3r | opal::defaults::sensor::incline::axis = Vec3r(1, 0, 0) |
| const real | opal::defaults::ode::autoDisableLinearMin = 0 |
| const real | opal::defaults::ode::autoDisableLinearMax = (real)0.2 |
| const real | opal::defaults::ode::autoDisableAngularMin = 0 |
| const real | opal::defaults::ode::autoDisableAngularMax = (real)0.2 |
| const int | opal::defaults::ode::autoDisableStepsMin = (int)1 |
| const int | opal::defaults::ode::autoDisableStepsMax = (int)60 |
| const real | opal::defaults::ode::autoDisableTimeMin = 0 |
| const real | opal::defaults::ode::autoDisableTimeMax = (real)0.4 |
| const real | opal::defaults::ode::minMassRatio = (real)0.001 |
| const real | opal::defaults::ode::minERP = (real)0.1 |
| const real | opal::defaults::ode::maxERP = (real)0.9 |
| const real | opal::defaults::ode::globalCFM = (real)1e-5 |
| const real | opal::defaults::ode::jointFudgeFactor = (real)0.1 |
| const real | opal::defaults::ode::maxFriction = (real)1000.0 |
| const real | opal::defaults::ode::surfaceLayer = (real)0.001 |
| const int | opal::defaults::ode::maxRaycastContacts = 10 |
