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MdtWorld Struct Reference

World Struct contains simulation-wide parameters. More...

#include <MdtTypes.h>

List of all members.

Public Attributes
MdtBody*	bodyHead
	Kea body list. More...
MdtBaseConstraint*	constraintHead
	Constraint list for all constraint types. More...
void*	keaMemoryBase
	Kea memory - used during keaStep only. More...
void*	keaMemoryBaseAligned
	Kea memory - above pointer shifted up to be quad-word aligned. More...
int	keaMemorySize
	Size of Kea memory. More...
int	keaMemorySizeAligned
	Size of aligned Kea memory. More...
MdtMemoryPoolOverflowCB	keaMemoryOverflowCallback
	Optional callback in case Kea memory pool is too small. More...
int	maxKeaMemoryUsed
	Maximum amount of the kea memory pool used during simulation so far. More...
int	maxBodies
	Maximum number of bodies allowed in this world. More...
int	nBodies
	Number of bodies in existence (enabled and disabled). More...
int	nEnabledBodies
	Total count of enabled bodies in the world. More...
int	activeBodies
	Number of bodies simulated in the current partition. More...
MdtBody*	bodyArray
	Pool of MdtBodies. More...
MdtBody**	freeBodyStack
	Stack of pointers to free bodies. More...
int	nextFreeBody
	Indicates next pointer in stack. More...
MdtKeaBody*	keabodyArray
	Contiguous array of keaBodies - passed into Kea. More...
MdtKeaTransformation*	keatmArray
	Contiguous array of keaTransformations - passed into Kea. More...
int	maxConstraints
	Maximum number of constraints allowed in this world. More...
int	nEnabledConstraints
	Total count of enabled constraints in the world. More...
MdtConstraintUnion*	constraintArray
	Pool of constraints. More...
MdtConstraintUnion**	freeConstraintStack
	Stack of pointers to free constraint structs. More...
int	nextFreeConstraint
	Integer indicating next pointer in stack. More...
MdtCListNode*	cNodeArray
	Pool of CListNodes, used for keeping a bodies list of constraints. More...
MdtCListNode**	freeCNodeStack
	Stack of pointer to free CListNodes. More...
int	nextFreeCNode
	Indicates next pointer on stack. More...
MdtKeaConstraints	constraints
	Structure filled in with low-level constraint information each time step by MdtBcl functions and passed as input to Kea. More...
MdtBaseConstraint**	partitionConstraints
	Constraint pointers to be processed by Kea, grouped into partitions. More...
int*	partitionSizes
	Integers, the number of constraints in each partition. More...
int	nPartitions
	Number of partitions. More...
int	logKeaSystem
	If set to 1 the data passed to Kea will be outputted using the default handler for MeInfo. More...
MeReal	epsilon
	Numerical tolerance used by matrix solver. More...
MeReal	gamma
	Relaxation rate. More...
MeVector4	gravity
	Gravity vector. More...
MdtDEMMode	demMode
	Dynamics Event Manager operation mode. More...
MeReal	vel_thresh
	Sum-squared velocity threshold. More...
MeReal	velrot_thresh
	Sum-squared rotational velocity threshold. More...
MeReal	acc_thresh
	Sum-squared acceleration threshold. More...
MeReal	accrot_thresh
	Sum-squared rotation acceleration threshold. More...
int	alive_window
	Minimum number of steps to keep an object alive for. More...

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Detailed Description

World Struct contains simulation-wide parameters.

vel_thresh, velrot_thresh, acc_thresh, accrot_thresh and alive_window are used for determining when bodies are at rest. A body at rest is not processed by the solver till reenabled by a force or collision event. A body is disabled if it falls below all of the 4 threshhold values.

force_thresh and torque_thresh are threshholds for waking up resting bodies. If the force on a body is more than the force that was applied to it when it was disabled plus the force threshold, then the body is awakened.

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Member Data Documentation

MeReal MdtWorld::acc_thresh

Sum-squared acceleration threshold.

MeReal MdtWorld::accrot_thresh

Sum-squared rotation acceleration threshold.

int MdtWorld::activeBodies

Number of bodies simulated in the current partition.

int MdtWorld::alive_window

Minimum number of steps to keep an object alive for.

This is needed to give an object enough time to gain a minimum velocity after it has been awakened.

MdtBody * MdtWorld::bodyArray

Pool of MdtBodies.

MdtBody * MdtWorld::bodyHead

Kea body list.

MdtCListNode * MdtWorld::cNodeArray

Pool of CListNodes, used for keeping a bodies list of constraints.

MdtConstraintUnion * MdtWorld::constraintArray

Pool of constraints.

MdtBaseConstraint * MdtWorld::constraintHead

Constraint list for all constraint types.

MdtKeaConstraints MdtWorld::constraints

Structure filled in with low-level constraint information each time step by MdtBcl functions and passed as input to Kea.

See MdtKea.h

MdtDEMMode MdtWorld::demMode

Dynamics Event Manager operation mode.

MeReal MdtWorld::epsilon

Numerical tolerance used by matrix solver.

MdtBody ** MdtWorld::freeBodyStack

Stack of pointers to free bodies.

MdtCListNode ** MdtWorld::freeCNodeStack

Stack of pointer to free CListNodes.

MdtConstraintUnion ** MdtWorld::freeConstraintStack

Stack of pointers to free constraint structs.

MeReal MdtWorld::gamma

Relaxation rate.

MeVector4 MdtWorld::gravity

Gravity vector.

void * MdtWorld::keaMemoryBase

Kea memory - used during keaStep only.

void * MdtWorld::keaMemoryBaseAligned

Kea memory - above pointer shifted up to be quad-word aligned.

MdtMemoryPoolOverflowCB MdtWorld::keaMemoryOverflowCallback

Optional callback in case Kea memory pool is too small.

int MdtWorld::keaMemorySize

Size of Kea memory.

int MdtWorld::keaMemorySizeAligned

Size of aligned Kea memory.

MdtKeaBody * MdtWorld::keabodyArray

Contiguous array of keaBodies - passed into Kea.

MdtKeaTransformation * MdtWorld::keatmArray

Contiguous array of keaTransformations - passed into Kea.

int MdtWorld::logKeaSystem

If set to 1 the data passed to Kea will be outputted using the default handler for MeInfo.

To log the output to disk redefine your own handler for MeInfo.

int MdtWorld::maxBodies

Maximum number of bodies allowed in this world.

int MdtWorld::maxConstraints

Maximum number of constraints allowed in this world.

int MdtWorld::maxKeaMemoryUsed

Maximum amount of the kea memory pool used during simulation so far.

int MdtWorld::nBodies

Number of bodies in existence (enabled and disabled).

int MdtWorld::nEnabledBodies

Total count of enabled bodies in the world.

int MdtWorld::nEnabledConstraints

Total count of enabled constraints in the world.

int MdtWorld::nPartitions

Number of partitions.

int MdtWorld::nextFreeBody

Indicates next pointer in stack.

int MdtWorld::nextFreeCNode

Indicates next pointer on stack.

int MdtWorld::nextFreeConstraint

Integer indicating next pointer in stack.

MdtBaseConstraint ** MdtWorld::partitionConstraints

Constraint pointers to be processed by Kea, grouped into partitions.

int * MdtWorld::partitionSizes

Integers, the number of constraints in each partition.

MeReal MdtWorld::vel_thresh

Sum-squared velocity threshold.

MeReal MdtWorld::velrot_thresh

Sum-squared rotational velocity threshold.

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The documentation for this struct was generated from the following file:

• MdtTypes.h

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