raisim::World::SleepSettings

struct · #include <raisim/World.hpp>

Sleeping-island configuration (see setSleepingParameters()).

Public attributes

enabled

bool enabled

Whether sleeping islands are enabled.

linearVelThreshold

double linearVelThreshold

Linear speed below which a body counts as quiet (m/s).

angularVelThreshold

double angularVelThreshold

Angular speed below which a body counts as quiet (rad/s).

quietSteps

int quietSteps

Number of consecutive quiet steps before an island sleeps.