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1<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
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3<title>Open Dynamics Engine: Automatic Enabling and Disabling</title>
4<link href="doxygen.css" rel="stylesheet" type="text/css">
5<link href="tabs.css" rel="stylesheet" type="text/css">
6</head><body>
7<!-- Generated by Doxygen 1.5.3 -->
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9  <ul>
10    <li><a href="index.html"><span>Main&nbsp;Page</span></a></li>
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13    <li><a href="files.html"><span>Files</span></a></li>
14  </ul>
15</div>
16<h1>Automatic Enabling and Disabling</h1><table border="0" cellpadding="0" cellspacing="0">
17<tr><td></td></tr>
18<tr><td colspan="2"><br><h2>Functions</h2></td></tr>
19<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g280c6deffe6b4b8ba39d60bf25355347"></a><!-- doxytag: member="disable::dWorldSetAutoEnableDepthSF1" ref="g280c6deffe6b4b8ba39d60bf25355347" args="(dWorldID, int autoEnableDepth)" -->
20ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g280c6deffe6b4b8ba39d60bf25355347">dWorldSetAutoEnableDepthSF1</a> (dWorldID, int autoEnableDepth)</td></tr>
21
22<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set the AutoEnableDepth parameter used by the StepFast1 algorithm. <br></td></tr>
23<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="g5438f43d9c71d8090a44171f685de196"></a><!-- doxytag: member="disable::dWorldGetAutoEnableDepthSF1" ref="g5438f43d9c71d8090a44171f685de196" args="(dWorldID)" -->
24ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g5438f43d9c71d8090a44171f685de196">dWorldGetAutoEnableDepthSF1</a> (dWorldID)</td></tr>
25
26<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get the AutoEnableDepth parameter used by the StepFast1 algorithm. <br></td></tr>
27<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g48802a9736cc8cc9c1a14cbc3125d9b2">dWorldGetAutoDisableLinearThreshold</a> (dWorldID)</td></tr>
28
29<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable linear threshold for newly created bodies.  <a href="#g48802a9736cc8cc9c1a14cbc3125d9b2"></a><br></td></tr>
30<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#ga1070c6f127352fb0a87ab1d42677b8e">dWorldSetAutoDisableLinearThreshold</a> (dWorldID, dReal linear_threshold)</td></tr>
31
32<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable linear threshold for newly created bodies.  <a href="#ga1070c6f127352fb0a87ab1d42677b8e"></a><br></td></tr>
33<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g9d32b31b5d343c324897434a97387abc">dWorldGetAutoDisableAngularThreshold</a> (dWorldID)</td></tr>
34
35<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable angular threshold for newly created bodies.  <a href="#g9d32b31b5d343c324897434a97387abc"></a><br></td></tr>
36<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g61cae2bd156129a918c3a1e69ac1b6dd">dWorldSetAutoDisableAngularThreshold</a> (dWorldID, dReal angular_threshold)</td></tr>
37
38<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable angular threshold for newly created bodies.  <a href="#g61cae2bd156129a918c3a1e69ac1b6dd"></a><br></td></tr>
39<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g947e2d43df920a26fb52b5273ea9856b">dWorldGetAutoDisableLinearAverageThreshold</a> (dWorldID)</td></tr>
40
41<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable linear average threshold for newly created bodies.  <a href="#g947e2d43df920a26fb52b5273ea9856b"></a><br></td></tr>
42<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g3e5ef82227b955c545efc40d60ef1b21">dWorldSetAutoDisableLinearAverageThreshold</a> (dWorldID, dReal linear_average_threshold)</td></tr>
43
44<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable linear average threshold for newly created bodies.  <a href="#g3e5ef82227b955c545efc40d60ef1b21"></a><br></td></tr>
45<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#gb9bd57f1bef49a8d9d6985462c078b02">dWorldGetAutoDisableAngularAverageThreshold</a> (dWorldID)</td></tr>
46
47<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable angular average threshold for newly created bodies.  <a href="#gb9bd57f1bef49a8d9d6985462c078b02"></a><br></td></tr>
48<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#gca94337cc27914fe4bc00ebce83f231a">dWorldSetAutoDisableAngularAverageThreshold</a> (dWorldID, dReal angular_average_threshold)</td></tr>
49
50<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable angular average threshold for newly created bodies.  <a href="#gca94337cc27914fe4bc00ebce83f231a"></a><br></td></tr>
51<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g4343cfd23eb87f3ee629a9d13833c2ac">dWorldGetAutoDisableAverageSamplesCount</a> (dWorldID)</td></tr>
52
53<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable sample count for newly created bodies.  <a href="#g4343cfd23eb87f3ee629a9d13833c2ac"></a><br></td></tr>
54<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g2babd1af3df87518e5bac9dfcb392593">dWorldSetAutoDisableAverageSamplesCount</a> (dWorldID, unsigned int average_samples_count)</td></tr>
55
56<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable average sample count for newly created bodies.  <a href="#g2babd1af3df87518e5bac9dfcb392593"></a><br></td></tr>
57<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#gb0a26f648b9e40d8d4639bf187d5ac94">dWorldGetAutoDisableSteps</a> (dWorldID)</td></tr>
58
59<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable steps for newly created bodies.  <a href="#gb0a26f648b9e40d8d4639bf187d5ac94"></a><br></td></tr>
60<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#gdb9f69119d1aa259a0e32a8ff94e2535">dWorldSetAutoDisableSteps</a> (dWorldID, int steps)</td></tr>
61
62<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable steps for newly created bodies.  <a href="#gdb9f69119d1aa259a0e32a8ff94e2535"></a><br></td></tr>
63<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API dReal&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#gbc004c37efff5f962fa2ac271b3be8e1">dWorldGetAutoDisableTime</a> (dWorldID)</td></tr>
64
65<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable time for newly created bodies.  <a href="#gbc004c37efff5f962fa2ac271b3be8e1"></a><br></td></tr>
66<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g06828866a19cab7aeb129ca9ec76863b">dWorldSetAutoDisableTime</a> (dWorldID, dReal time)</td></tr>
67
68<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable time for newly created bodies.  <a href="#g06828866a19cab7aeb129ca9ec76863b"></a><br></td></tr>
69<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g7617d19f08c7b1d22cf17ccf22bbdc00">dWorldGetAutoDisableFlag</a> (dWorldID)</td></tr>
70
71<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Get auto disable flag for newly created bodies.  <a href="#g7617d19f08c7b1d22cf17ccf22bbdc00"></a><br></td></tr>
72<tr><td class="memItemLeft" nowrap align="right" valign="top">ODE_API void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__disable.html#g58959b92ae4706e612bca673e85bfc50">dWorldSetAutoDisableFlag</a> (dWorldID, int do_auto_disable)</td></tr>
73
74<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Set auto disable flag for newly created bodies.  <a href="#g58959b92ae4706e612bca673e85bfc50"></a><br></td></tr>
75</table>
76<hr><a name="_details"></a><h2>Detailed Description</h2>
77Every body can be enabled or disabled. Enabled bodies participate in the simulation, while disabled bodies are turned off and do not get updated during a simulation step. New bodies are always created in the enabled state.<p>
78A disabled body that is connected through a joint to an enabled body will be automatically re-enabled at the next simulation step.<p>
79Disabled bodies do not consume CPU time, therefore to speed up the simulation bodies should be disabled when they come to rest. This can be done automatically with the auto-disable feature.<p>
80If a body has its auto-disable flag turned on, it will automatically disable itself when <ul>
81<li>It has been idle for a given number of simulation steps. </li>
82<li>It has also been idle for a given amount of simulation time.</li>
83</ul>
84A body is considered to be idle when the magnitudes of both its linear average velocity and angular average velocity are below given thresholds. The sample size for the average defaults to one and can be disabled by setting to zero with<p>
85Thus, every body has six auto-disable parameters: an enabled flag, a idle step count, an idle time, linear/angular average velocity thresholds, and the average samples count.<p>
86Newly created bodies get these parameters from world. <hr><h2>Function Documentation</h2>
87<a class="anchor" name="gb9bd57f1bef49a8d9d6985462c078b02"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableAngularAverageThreshold" ref="gb9bd57f1bef49a8d9d6985462c078b02" args="(dWorldID)" -->
88<div class="memitem">
89<div class="memproto">
90      <table class="memname">
91        <tr>
92          <td class="memname">ODE_API dReal dWorldGetAutoDisableAngularAverageThreshold           </td>
93          <td>(</td>
94          <td class="paramtype">dWorldID&nbsp;</td>
95          <td class="paramname">          </td>
96          <td>&nbsp;)&nbsp;</td>
97          <td width="100%"></td>
98        </tr>
99      </table>
100</div>
101<div class="memdoc">
102
103<p>
104Get auto disable angular average threshold for newly created bodies.
105<p>
106<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
107
108</div>
109</div><p>
110<a class="anchor" name="g9d32b31b5d343c324897434a97387abc"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableAngularThreshold" ref="g9d32b31b5d343c324897434a97387abc" args="(dWorldID)" -->
111<div class="memitem">
112<div class="memproto">
113      <table class="memname">
114        <tr>
115          <td class="memname">ODE_API dReal dWorldGetAutoDisableAngularThreshold           </td>
116          <td>(</td>
117          <td class="paramtype">dWorldID&nbsp;</td>
118          <td class="paramname">          </td>
119          <td>&nbsp;)&nbsp;</td>
120          <td width="100%"></td>
121        </tr>
122      </table>
123</div>
124<div class="memdoc">
125
126<p>
127Get auto disable angular threshold for newly created bodies.
128<p>
129<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
130
131</div>
132</div><p>
133<a class="anchor" name="g4343cfd23eb87f3ee629a9d13833c2ac"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableAverageSamplesCount" ref="g4343cfd23eb87f3ee629a9d13833c2ac" args="(dWorldID)" -->
134<div class="memitem">
135<div class="memproto">
136      <table class="memname">
137        <tr>
138          <td class="memname">ODE_API int dWorldGetAutoDisableAverageSamplesCount           </td>
139          <td>(</td>
140          <td class="paramtype">dWorldID&nbsp;</td>
141          <td class="paramname">          </td>
142          <td>&nbsp;)&nbsp;</td>
143          <td width="100%"></td>
144        </tr>
145      </table>
146</div>
147<div class="memdoc">
148
149<p>
150Get auto disable sample count for newly created bodies.
151<p>
152<dl class="return" compact><dt><b>Returns:</b></dt><dd>number of samples used </dd></dl>
153
154</div>
155</div><p>
156<a class="anchor" name="g7617d19f08c7b1d22cf17ccf22bbdc00"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableFlag" ref="g7617d19f08c7b1d22cf17ccf22bbdc00" args="(dWorldID)" -->
157<div class="memitem">
158<div class="memproto">
159      <table class="memname">
160        <tr>
161          <td class="memname">ODE_API int dWorldGetAutoDisableFlag           </td>
162          <td>(</td>
163          <td class="paramtype">dWorldID&nbsp;</td>
164          <td class="paramname">          </td>
165          <td>&nbsp;)&nbsp;</td>
166          <td width="100%"></td>
167        </tr>
168      </table>
169</div>
170<div class="memdoc">
171
172<p>
173Get auto disable flag for newly created bodies.
174<p>
175<dl class="return" compact><dt><b>Returns:</b></dt><dd>0 or 1 </dd></dl>
176
177</div>
178</div><p>
179<a class="anchor" name="g947e2d43df920a26fb52b5273ea9856b"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableLinearAverageThreshold" ref="g947e2d43df920a26fb52b5273ea9856b" args="(dWorldID)" -->
180<div class="memitem">
181<div class="memproto">
182      <table class="memname">
183        <tr>
184          <td class="memname">ODE_API dReal dWorldGetAutoDisableLinearAverageThreshold           </td>
185          <td>(</td>
186          <td class="paramtype">dWorldID&nbsp;</td>
187          <td class="paramname">          </td>
188          <td>&nbsp;)&nbsp;</td>
189          <td width="100%"></td>
190        </tr>
191      </table>
192</div>
193<div class="memdoc">
194
195<p>
196Get auto disable linear average threshold for newly created bodies.
197<p>
198<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
199
200</div>
201</div><p>
202<a class="anchor" name="g48802a9736cc8cc9c1a14cbc3125d9b2"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableLinearThreshold" ref="g48802a9736cc8cc9c1a14cbc3125d9b2" args="(dWorldID)" -->
203<div class="memitem">
204<div class="memproto">
205      <table class="memname">
206        <tr>
207          <td class="memname">ODE_API dReal dWorldGetAutoDisableLinearThreshold           </td>
208          <td>(</td>
209          <td class="paramtype">dWorldID&nbsp;</td>
210          <td class="paramname">          </td>
211          <td>&nbsp;)&nbsp;</td>
212          <td width="100%"></td>
213        </tr>
214      </table>
215</div>
216<div class="memdoc">
217
218<p>
219Get auto disable linear threshold for newly created bodies.
220<p>
221<dl class="return" compact><dt><b>Returns:</b></dt><dd>the threshold </dd></dl>
222
223</div>
224</div><p>
225<a class="anchor" name="gb0a26f648b9e40d8d4639bf187d5ac94"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableSteps" ref="gb0a26f648b9e40d8d4639bf187d5ac94" args="(dWorldID)" -->
226<div class="memitem">
227<div class="memproto">
228      <table class="memname">
229        <tr>
230          <td class="memname">ODE_API int dWorldGetAutoDisableSteps           </td>
231          <td>(</td>
232          <td class="paramtype">dWorldID&nbsp;</td>
233          <td class="paramname">          </td>
234          <td>&nbsp;)&nbsp;</td>
235          <td width="100%"></td>
236        </tr>
237      </table>
238</div>
239<div class="memdoc">
240
241<p>
242Get auto disable steps for newly created bodies.
243<p>
244<dl class="return" compact><dt><b>Returns:</b></dt><dd>nr of steps </dd></dl>
245
246</div>
247</div><p>
248<a class="anchor" name="gbc004c37efff5f962fa2ac271b3be8e1"></a><!-- doxytag: member="objects.h::dWorldGetAutoDisableTime" ref="gbc004c37efff5f962fa2ac271b3be8e1" args="(dWorldID)" -->
249<div class="memitem">
250<div class="memproto">
251      <table class="memname">
252        <tr>
253          <td class="memname">ODE_API dReal dWorldGetAutoDisableTime           </td>
254          <td>(</td>
255          <td class="paramtype">dWorldID&nbsp;</td>
256          <td class="paramname">          </td>
257          <td>&nbsp;)&nbsp;</td>
258          <td width="100%"></td>
259        </tr>
260      </table>
261</div>
262<div class="memdoc">
263
264<p>
265Get auto disable time for newly created bodies.
266<p>
267<dl class="return" compact><dt><b>Returns:</b></dt><dd>nr of seconds </dd></dl>
268
269</div>
270</div><p>
271<a class="anchor" name="gca94337cc27914fe4bc00ebce83f231a"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableAngularAverageThreshold" ref="gca94337cc27914fe4bc00ebce83f231a" args="(dWorldID, dReal angular_average_threshold)" -->
272<div class="memitem">
273<div class="memproto">
274      <table class="memname">
275        <tr>
276          <td class="memname">ODE_API void dWorldSetAutoDisableAngularAverageThreshold           </td>
277          <td>(</td>
278          <td class="paramtype">dWorldID&nbsp;</td>
279          <td class="paramname">, </td>
280        </tr>
281        <tr>
282          <td class="paramkey"></td>
283          <td></td>
284          <td class="paramtype">dReal&nbsp;</td>
285          <td class="paramname"> <em>angular_average_threshold</em></td><td>&nbsp;</td>
286        </tr>
287        <tr>
288          <td></td>
289          <td>)</td>
290          <td></td><td></td><td width="100%"></td>
291        </tr>
292      </table>
293</div>
294<div class="memdoc">
295
296<p>
297Set auto disable angular average threshold for newly created bodies.
298<p>
299<dl compact><dt><b>Parameters:</b></dt><dd>
300  <table border="0" cellspacing="2" cellpadding="0">
301    <tr><td valign="top"></td><td valign="top"><em>linear_average_threshold</em>&nbsp;</td><td>default is 0.01 </td></tr>
302  </table>
303</dl>
304
305</div>
306</div><p>
307<a class="anchor" name="g61cae2bd156129a918c3a1e69ac1b6dd"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableAngularThreshold" ref="g61cae2bd156129a918c3a1e69ac1b6dd" args="(dWorldID, dReal angular_threshold)" -->
308<div class="memitem">
309<div class="memproto">
310      <table class="memname">
311        <tr>
312          <td class="memname">ODE_API void dWorldSetAutoDisableAngularThreshold           </td>
313          <td>(</td>
314          <td class="paramtype">dWorldID&nbsp;</td>
315          <td class="paramname">, </td>
316        </tr>
317        <tr>
318          <td class="paramkey"></td>
319          <td></td>
320          <td class="paramtype">dReal&nbsp;</td>
321          <td class="paramname"> <em>angular_threshold</em></td><td>&nbsp;</td>
322        </tr>
323        <tr>
324          <td></td>
325          <td>)</td>
326          <td></td><td></td><td width="100%"></td>
327        </tr>
328      </table>
329</div>
330<div class="memdoc">
331
332<p>
333Set auto disable angular threshold for newly created bodies.
334<p>
335<dl compact><dt><b>Parameters:</b></dt><dd>
336  <table border="0" cellspacing="2" cellpadding="0">
337    <tr><td valign="top"></td><td valign="top"><em>linear_threshold</em>&nbsp;</td><td>default is 0.01 </td></tr>
338  </table>
339</dl>
340
341</div>
342</div><p>
343<a class="anchor" name="g2babd1af3df87518e5bac9dfcb392593"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableAverageSamplesCount" ref="g2babd1af3df87518e5bac9dfcb392593" args="(dWorldID, unsigned int average_samples_count)" -->
344<div class="memitem">
345<div class="memproto">
346      <table class="memname">
347        <tr>
348          <td class="memname">ODE_API void dWorldSetAutoDisableAverageSamplesCount           </td>
349          <td>(</td>
350          <td class="paramtype">dWorldID&nbsp;</td>
351          <td class="paramname">, </td>
352        </tr>
353        <tr>
354          <td class="paramkey"></td>
355          <td></td>
356          <td class="paramtype">unsigned int&nbsp;</td>
357          <td class="paramname"> <em>average_samples_count</em></td><td>&nbsp;</td>
358        </tr>
359        <tr>
360          <td></td>
361          <td>)</td>
362          <td></td><td></td><td width="100%"></td>
363        </tr>
364      </table>
365</div>
366<div class="memdoc">
367
368<p>
369Set auto disable average sample count for newly created bodies.
370<p>
371<dl compact><dt><b>Parameters:</b></dt><dd>
372  <table border="0" cellspacing="2" cellpadding="0">
373    <tr><td valign="top"></td><td valign="top"><em>average_samples_count</em>&nbsp;</td><td>Default is 1, meaning only instantaneous velocity is used. Set to zero to disable sampling and thus prevent any body from auto-disabling. </td></tr>
374  </table>
375</dl>
376
377</div>
378</div><p>
379<a class="anchor" name="g58959b92ae4706e612bca673e85bfc50"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableFlag" ref="g58959b92ae4706e612bca673e85bfc50" args="(dWorldID, int do_auto_disable)" -->
380<div class="memitem">
381<div class="memproto">
382      <table class="memname">
383        <tr>
384          <td class="memname">ODE_API void dWorldSetAutoDisableFlag           </td>
385          <td>(</td>
386          <td class="paramtype">dWorldID&nbsp;</td>
387          <td class="paramname">, </td>
388        </tr>
389        <tr>
390          <td class="paramkey"></td>
391          <td></td>
392          <td class="paramtype">int&nbsp;</td>
393          <td class="paramname"> <em>do_auto_disable</em></td><td>&nbsp;</td>
394        </tr>
395        <tr>
396          <td></td>
397          <td>)</td>
398          <td></td><td></td><td width="100%"></td>
399        </tr>
400      </table>
401</div>
402<div class="memdoc">
403
404<p>
405Set auto disable flag for newly created bodies.
406<p>
407<dl compact><dt><b>Parameters:</b></dt><dd>
408  <table border="0" cellspacing="2" cellpadding="0">
409    <tr><td valign="top"></td><td valign="top"><em>do_auto_disable</em>&nbsp;</td><td>default is false. </td></tr>
410  </table>
411</dl>
412
413</div>
414</div><p>
415<a class="anchor" name="g3e5ef82227b955c545efc40d60ef1b21"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableLinearAverageThreshold" ref="g3e5ef82227b955c545efc40d60ef1b21" args="(dWorldID, dReal linear_average_threshold)" -->
416<div class="memitem">
417<div class="memproto">
418      <table class="memname">
419        <tr>
420          <td class="memname">ODE_API void dWorldSetAutoDisableLinearAverageThreshold           </td>
421          <td>(</td>
422          <td class="paramtype">dWorldID&nbsp;</td>
423          <td class="paramname">, </td>
424        </tr>
425        <tr>
426          <td class="paramkey"></td>
427          <td></td>
428          <td class="paramtype">dReal&nbsp;</td>
429          <td class="paramname"> <em>linear_average_threshold</em></td><td>&nbsp;</td>
430        </tr>
431        <tr>
432          <td></td>
433          <td>)</td>
434          <td></td><td></td><td width="100%"></td>
435        </tr>
436      </table>
437</div>
438<div class="memdoc">
439
440<p>
441Set auto disable linear average threshold for newly created bodies.
442<p>
443<dl compact><dt><b>Parameters:</b></dt><dd>
444  <table border="0" cellspacing="2" cellpadding="0">
445    <tr><td valign="top"></td><td valign="top"><em>linear_average_threshold</em>&nbsp;</td><td>default is 0.01 </td></tr>
446  </table>
447</dl>
448
449</div>
450</div><p>
451<a class="anchor" name="ga1070c6f127352fb0a87ab1d42677b8e"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableLinearThreshold" ref="ga1070c6f127352fb0a87ab1d42677b8e" args="(dWorldID, dReal linear_threshold)" -->
452<div class="memitem">
453<div class="memproto">
454      <table class="memname">
455        <tr>
456          <td class="memname">ODE_API void dWorldSetAutoDisableLinearThreshold           </td>
457          <td>(</td>
458          <td class="paramtype">dWorldID&nbsp;</td>
459          <td class="paramname">, </td>
460        </tr>
461        <tr>
462          <td class="paramkey"></td>
463          <td></td>
464          <td class="paramtype">dReal&nbsp;</td>
465          <td class="paramname"> <em>linear_threshold</em></td><td>&nbsp;</td>
466        </tr>
467        <tr>
468          <td></td>
469          <td>)</td>
470          <td></td><td></td><td width="100%"></td>
471        </tr>
472      </table>
473</div>
474<div class="memdoc">
475
476<p>
477Set auto disable linear threshold for newly created bodies.
478<p>
479<dl compact><dt><b>Parameters:</b></dt><dd>
480  <table border="0" cellspacing="2" cellpadding="0">
481    <tr><td valign="top"></td><td valign="top"><em>linear_threshold</em>&nbsp;</td><td>default is 0.01 </td></tr>
482  </table>
483</dl>
484
485</div>
486</div><p>
487<a class="anchor" name="gdb9f69119d1aa259a0e32a8ff94e2535"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableSteps" ref="gdb9f69119d1aa259a0e32a8ff94e2535" args="(dWorldID, int steps)" -->
488<div class="memitem">
489<div class="memproto">
490      <table class="memname">
491        <tr>
492          <td class="memname">ODE_API void dWorldSetAutoDisableSteps           </td>
493          <td>(</td>
494          <td class="paramtype">dWorldID&nbsp;</td>
495          <td class="paramname">, </td>
496        </tr>
497        <tr>
498          <td class="paramkey"></td>
499          <td></td>
500          <td class="paramtype">int&nbsp;</td>
501          <td class="paramname"> <em>steps</em></td><td>&nbsp;</td>
502        </tr>
503        <tr>
504          <td></td>
505          <td>)</td>
506          <td></td><td></td><td width="100%"></td>
507        </tr>
508      </table>
509</div>
510<div class="memdoc">
511
512<p>
513Set auto disable steps for newly created bodies.
514<p>
515<dl compact><dt><b>Parameters:</b></dt><dd>
516  <table border="0" cellspacing="2" cellpadding="0">
517    <tr><td valign="top"></td><td valign="top"><em>steps</em>&nbsp;</td><td>default is 10 </td></tr>
518  </table>
519</dl>
520
521</div>
522</div><p>
523<a class="anchor" name="g06828866a19cab7aeb129ca9ec76863b"></a><!-- doxytag: member="objects.h::dWorldSetAutoDisableTime" ref="g06828866a19cab7aeb129ca9ec76863b" args="(dWorldID, dReal time)" -->
524<div class="memitem">
525<div class="memproto">
526      <table class="memname">
527        <tr>
528          <td class="memname">ODE_API void dWorldSetAutoDisableTime           </td>
529          <td>(</td>
530          <td class="paramtype">dWorldID&nbsp;</td>
531          <td class="paramname">, </td>
532        </tr>
533        <tr>
534          <td class="paramkey"></td>
535          <td></td>
536          <td class="paramtype">dReal&nbsp;</td>
537          <td class="paramname"> <em>time</em></td><td>&nbsp;</td>
538        </tr>
539        <tr>
540          <td></td>
541          <td>)</td>
542          <td></td><td></td><td width="100%"></td>
543        </tr>
544      </table>
545</div>
546<div class="memdoc">
547
548<p>
549Set auto disable time for newly created bodies.
550<p>
551<dl compact><dt><b>Parameters:</b></dt><dd>
552  <table border="0" cellspacing="2" cellpadding="0">
553    <tr><td valign="top"></td><td valign="top"><em>time</em>&nbsp;</td><td>default is 0 seconds </td></tr>
554  </table>
555</dl>
556
557</div>
558</div><p>
559<hr size="1"><address style="text-align: right;"><small>Generated on Fri Oct 12 08:36:51 2007 for Open Dynamics Engine by&nbsp;
560<a href="http://www.doxygen.org/index.html">
561<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
562</body>
563</html>
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