SimParams

The SimParams XML block manage parameters relative to the simulation environment, and global aspects of the scene when Configuring and creating scenes.

XML syntax

Every tag in this section is optional except showTrajectory which is a 0-n tag, so if something is not filled default values will be applied. The parameters that can be configured are:

• disableShaders: Disable osgOcean shaders, visual performance may increase but visually quality will get drastically worse. Fixes segmentation fault when graphic card is not able to use shaders.
• resw,resh: Initial window resolution of the scene.
• offsetp,offsetr: World coordinates (position and rotation) offset. It moves the virtual zero pose of the scene. Requires (x,y,z) parameters.
• enablePhysics: Activates or deactivates bullet physics.
• gravity: Sets force and direction of gravity in the scene. Requires (x,y,z) parameters.
• physicsFrequency: simulation rate (default is 60, as in Bullet).
• physicsSubSteps: In case the framerate is lower than 60, a max number of physics calculation steps to be done. 0 (default) for automatic number of substeps.
• physicsSolver: Solver used in bullet engine, to know: Dantzig (default), SolveProjectedGauss, SequentialImpulse.
• showTrajectory Draws the trajectory of a vehicle, object or vehicle part in the simulator. Pressing 't' will show/hide trajectory, although it will keep drawing even in hidden state.
  • target Name of the vehicle, object or vehicle part to draw trajectory. Allows routes using '/' for deambiguation: for example girona500/part4 will draw the trajectory of the base_link present in the girona500 vehicle.
  • color Sets the color of the trajectory. Requires (r,g,b) parameter.
  • lineStyle Allows diferent line patterns configuration. To know:

1: continuous line --------
2: dashed line - - - - - - -
3: dashed line --  --  --  -- 
4: dashed line -   -   -   -

• lightRate: Sets the light ratio on the scene from 0 total darkness to infinity, default value 1.0.