Simulation Construction Set

Simulation Construction Set

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SCS API

  • Summary
  • Constructors
  • Simulation Parameters
  • Create the World
  • Simulate methods
  • Data Import Export Methods
  • Camera Methods
  • Adding to the GUI

Link and LinkGraphicsDescription API

  • Summary
  • Link constructor and methods
  • LinkGraphicsDescription constructor and methods
  • Adding shapes
  • YoAppearance helper API

Robot and Joint API

  • Summary
  • Robot
  • Robot Constructor and Methods
  • Joint Constructor and methods
  • General Joint Methods

Kinematic, ExternalForce, and GroundContactPoint API

  • Summary
  • Introduction to special points
  • ExternalForcePoint and GroundContactPoint constructors and methods
  • GroundContactModel interface
  • GroundProfile Interface

Simulation Parameters

void setDT(double simulateDT, int recordFrequency) 
double getDT()

Sets the integration time step and variable record frequency (steps per record). Defaults are 0.0004 seconds and 50 steps per record (0.02 seconds per record).

void setPlaybackRealTimeRate(double rate)

Sets the playback slow-motion/fast-motion rate. The default value of 1.0 means real time playback.

void setPlaybackDesiredFrameRate(double rate)

Sets the desired graphics update rate during playback. Default value is 0.04, or 25 fps.

YoVariable getVar(String varname)

Finds and returns a YoVariable of the given name.

void addStaticLink(Link staticLink)

Adds a static link with no physics. For creating the surrounding static world.

public void setFastSimulate(boolean fastSimulate)

If fastSimulate is true, makes the GUI less responsive during simulation in order to increase simulation speed.

Related Example:

Example of Simulation Parameters

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