raisim::GranularSystem::StepStats

struct · #include <raisim/object/granular/GranularSystem.hpp>

Diagnostic counters of the last step (see getLastStepStats()).

Public attributes

candidatePairs

uint64_t candidatePairs

Particle-particle pairs tested.

rigidCandidatePairs

uint64_t rigidCandidatePairs

Particle-object pairs tested.

meshTriangleCandidatePairs

uint64_t meshTriangleCandidatePairs

Particle-triangle pairs tested against meshes.

meshInsideTriangleTests

uint64_t meshInsideTriangleTests

Inside tests performed against mesh triangles.

particleContacts

uint64_t particleContacts

Particle-particle contacts (including cohesive ones).

boundaryContacts

uint64_t boundaryContacts

Contacts with the ground plane and container walls.

rigidContacts

uint64_t rigidContacts

Contacts with world objects.

cohesiveContacts

uint64_t cohesiveContacts

Particle pairs with nonzero cohesion.

activeContactHistories

uint64_t activeContactHistories

Tangential contact histories alive.

staleContactHistoriesRemoved

uint64_t staleContactHistoriesRemoved

Contact histories discarded because the contact ended.

emittedParticles

uint64_t emittedParticles

Particles added by emitBox() / emitBoxRandom().

removedParticles

uint64_t removedParticles

Particles removed by removeParticlesBelowZ() / removeParticlesInBox().

wrappedParticles

uint64_t wrappedParticles

Periodic-boundary wraps.

velocityClamps

uint64_t velocityClamps

Times a linear or angular speed was clamped.

maxPenetration

double maxPenetration

Largest contact overlap (m).

maxSpeed

double maxSpeed

Largest particle speed at the end of the step (m/s).