Simulation Construction Set

Simulation Construction Set

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›SCS API

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

Simulate methods

public void simulate()

Simulate continuously.

public void simulate(double simulationTime)

Simulate for simulationTime time.

public void simulate(int numTicks)

Simulate for numTicks ticks.

public void addSimulateDoneListener(SimulateDoneListener listener)

Adds a SimulateDoneListener that is called back when simulate() is completed. SimulateDoneListener is an interface whose sole method is public void simulateDone()

public void stop()

Stop simulating.

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