ANVELProperties

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Contents

Application

Source: Core

Name Description Type Attributes Unit
Version Application version. string ReadOnly
BuildDate Application build date. string ReadOnly
Platform Build platform. string ReadOnly
Configuration Installation configuration. string ReadOnly
WorkingDirectory Application working directory. string ReadOnly
ExecutableDirectory Application executable directory. string ReadOnly
Tags Application configuration tags. stringvector ReadOnly
ApplicationTitle Application title string ReadOnly

Messages

Source: Core
Global Message Handler

Name Description Type Attributes Unit
MessageCount Total number of messages sent. uint64 ReadOnly Nonserializable
MaxMessageCount Maximum number of messages sent. uint64 ReadOnly Nonserializable
LastMessageCount Number of messages sent last frame. uint64 ReadOnly Nonserializable
MessageRxCount Total Number of messages enqueued. uint64 ReadOnly Nonserializable
MessageRxProcessingTime Total time spent processing messages. real ReadOnly Nonserializable s
MessagePublishingTime Total time spent publishing messages. real ReadOnly Nonserializable s

AssetManager

Source: Core
AssetManager

Name Description Type Attributes Unit
Favorites User's favorite assets stringvector

Assets

Source: AssetManager
Assets

Name Description Type Attributes Unit
Name Name of this asset. string Nonserializable
Preview Preview for this asset. string Nonserializable
Filename Source file for this asset. string Nonserializable
Category Category for this asset. string Nonserializable
IsPlaceable True if this asset can be placed by users through the user interface. bool Nonserializable
Definitions Definitions associated with this asset. idvector Nonserializable
Tags Tags for this asset. stringvector Nonserializable
NamedTags Named Tags for this asset. namevaluelist Nonserializable

Thread

Source: Core::ThreadManager
Thread Information

Name Description Type Attributes Unit
Name Thread Name string ReadOnly
CPU Utilization CPUUtilization float32 ReadOnly Nonserializable %
Total CPU Time Total CPU Time float32 ReadOnly Nonserializable s
ThreadID Native thread ID uint32 ReadOnly Nonserializable
LastCore Last processor core this thread was scheduled on. uint32 ReadOnly Nonserializable
ThreadPriority uint32 ReadOnly Nonserializable
AffinityMask uint64 ReadOnly Nonserializable

Watchdog

Source:
Watchdog

Name Description Type Attributes Unit
AllThreadsOK True if all registered threads have recently responded or are doing expected long running tasks. bool ReadOnly
AllThreadsResponsive True only if all registered threads have recently responded. bool ReadOnly
LastCheckedTime Last application time when thread state was checked. real ReadOnly
LastResponsiveTime Last application time when all threads were responsive. real ReadOnly

TriMeshManager

Source: Core
TriMeshManager

Name Description Type Attributes Unit
UsedMeshMemory Used Mesh Memory uint32 ReadOnly B
MaxMemoryCapacity Maximum Mesh Memory uint32 B
MeshesLoaded Total count of meshes loaded. uint32

Webserver

Source: Core
ANVEL Webserver

Name Description Type Attributes Unit
Enabled True if enabled bool
AllowExternalConnections Allow incoming connections from external devices. bool
Running True if running bool ReadOnly
DefaultPort Port used on startup uint16
Port Current port utilized by the webserver string ReadOnly
EndpointCount Number of registered endpoints uint32 ReadOnly
RequestCount Number of requests made to the webserver uint32 ReadOnly

Sim Manager

Source: Sim
SimManager

Name Description Type Attributes Unit
SimTime Elapsed Sim Time real ReadOnly s
AppTime Elapsed Application Time real ReadOnly Nonserializable s
StepCount Number of sim steps completed. uint64 ReadOnly
Paused Paused Status bool Nonserializable
TimeScale Sim Time Scaling real Advanced
SimulationRate Rate, relative to real time, that the simulation is advancing. real ReadOnly Advanced Nonserializable
TimingMode The simulation step mode. uint32 Advanced

ParticleSystemManager

Source: Sim
ParticleSystemManager

Name Description Type Attributes Unit
TotalCreated Number of Particle Systems Created uint32 ReadOnly
Draw Whether or not to draw particles bool
Gravity Gravity affector value float32

ParticleSystem

Source: ParticleSystemManager
ParticleSystem

Name Description Type Attributes Unit
Name ParticleSystem name string ReadOnly
Enabled Enabled bool
Wind Wind affector vector vector3

Plugin

Source: Plugin Manager
Plugin Information

Name Description Type Attributes Unit
Name Plugin Name string ReadOnly
Filename File name string ReadOnly
Path string ReadOnly
Version Plugin version string ReadOnly
Restrictions Restrictions, if any. string ReadOnly
Copyright Copyright, if any. string ReadOnly
ANVEL Core Version ANVEL version string ReadOnly
Date Date the plugin was compiled string ReadOnly
Loaded True if loaded bool ReadOnly

WorldObject

Source: WorldManager
WorldObject

Name Description Type Attributes Unit
Name ObjectName string
Parent The ID of parent object, if parent exists. id ReadOnly
Position World position vector3 m
Orientation World orientation quaternion
Scale Object scale vector3
Selectable bool
Coordinate Global latitude coordinate ReadOnly
Position Offset Offset position from parent vector3 Nonserializable m
Orientation Offset Offset orientation from parent quaternion Nonserializable
Scale Offset Scale relative to parent. vector3 Nonserializable
Visible Visible bool
Opacity How opaque the world object should be rendered; should be normalized from 0 to 1. float32
Category Object category. uint32 ReadOnly
SelectionFlags Object selection flags. uint32 ReadOnly

PathObject

Source: WorldManager
PathObject

Name Description Type Attributes Unit
Name The name of the path object string
PathType Type of interpolation to use between path points. int32
Visible If the path object is visible bool
Color Color of this path color
SubdivisionDistance Target distance between points in terrain fitting and spline interpolation. float32 m
AllowFloating Allow points to float in mid air. bool
Closed Automatically loop the path, connecting the last point to the first point. bool
PointsCreated The total number of points this path has created uint32 ReadOnly
Estimated Length Estimated Length accounting for terrain real ReadOnly m
Flat Length Estimated Length without taking height in to account real ReadOnly m
Direct Length Absolute length without taking terrain in to account. This will pass through hills, etc. real ReadOnly m

ObjectDefinition

Source: WorldManager
ObjectDefinition

Name Description Type Attributes Unit
Position Initial position. vector3
Orientation Initial orientation. quaternion
Scale Initial scale. vector3
Category Category this object belongs to. uint32
SnapBehavior How this object moves when adjusted with the manipulator uint8
TypeName Name of this type. string
IsSelectable If this object can be selected through the editor window. bool
IsScalable If this object can be scaled with the manipulator. bool
IsTerrain Is this object part of the terrain. bool
IsVirtual If this object represents an abstract visualization instead of something physical. bool

ParticleDefinition

Source: WorldManager
ParticleDefinition

Name Description Type Attributes Unit
Position Initial position. vector3
Orientation Initial orientation. quaternion
Scale Initial scale. vector3
Category Category this object belongs to. uint32
SnapBehavior How this object moves when adjusted with the manipulator uint8
TypeName Name of this type. string
IsSelectable If this object can be selected through the editor window. bool
IsScalable If this object can be scaled with the manipulator. bool
IsTerrain Is this object part of the terrain. bool
IsVirtual If this object represents an abstract visualization instead of something physical. bool

AI

Source: AIManager
AIManager

Name Description Type Attributes Unit
Debug Visibility Show/Hide debug for AI system bool
UpdateTime real ReadOnly s

Behavior

Source: AIManager
Behavior

Name Description Type Attributes Unit
Actor Id of the actor this belongs to. id ReadOnly
CurrentState Name of the current state string ReadOnly
Behavior Type Type of behavior defined for the object string ReadOnly
Previous state type string ReadOnly

MovingActorObject

Source: AIManager
MovingActorObject

Name Description Type Attributes Unit
MaxSpeed Maximum travel speed real
PathCompletionMode Behavior to trigger when an object reached end of path. uint32
MovingAndTurnTolerance The radial range in which this actor is allowed to move forward while it is adjusting its heading. radian rad
GoalDistanceTolerance The distance at which this actor is considered to have reached a position. real m
ArriveTime The total time this actor should take while slowing down to arrive at a point. Used by the Arrive() steering behavior real s
NeighborhoodRadius The area this actor considers when calculating group steering behaviors real m
WanderRadius The radius of the circle on which the output steering force that Wander() moves around on. real m
WanderOffset How far in front of the actor the center of the circle on which the output steering force that Wander() moves around on is real m
WanderJitter How dramatically the Wander() function should fluctuate on its wander circle. real
GoalPosition The position the actor is seeking vector3 m
GoalYaw The yaw component of the actor's desired orientation radian rad
UseGoalYaw Whether or not he actor is seeking the desired orientation bool
FollowPath The path to be followed by the Moving Actor id
FollowPathPointIndex The point index into the path currently being followed uint32
WaitCheckingMultiplier An Actor determines it should wait by checking the area around it with a radius proportional to it's velocity and multiplied by this constant. real Advanced
BalancingTorqueScale Adjusts balancing torque applied to physics actors to keep them aligned in their original orientation. real
AllowDisable If we allow this actor to become disabled when tipped over. bool
YawControlP Yaw PID Control proportional coefficient real
YawControlI Yaw PID Control integral coefficient real
YawControlD Yaw PID Control derivative coefficient real
YawControlFactor Influence of yaw PID controller real
SpeedControlP Speed PID Control proportional coefficient real
SpeedControlI Speed PID Control integral coefficient real
SpeedControlD Speed PID Control derivative coefficient real
SpeedControlFactor Influence of speed PID controller real

MovingActorBehavior

Source: AIManager
MovingActorBehavior

Name Description Type Attributes Unit
LastPathID Path assigned to actor, blank if none id ReadOnly
LastTargetID Target assigned to actor, blank if none id ReadOnly

SteeringWeights

Source: AIManager
SteeringWeights

Name Description Type Attributes Unit
SeekWeight The weight of the Seek() steering method, which races toward a position or target. real
FleeWeight The weight of the Flee() steering method, which races away from a position or target. real
ArriveWeight The weight of the Arrive() steering method, gets close to a a position or target, and then slows based on ArriveTime, to a stop on top of it. real
SeparationWeight The weight of the Separation() steering method, which attempts to keep distance from this actor's neighbors. real
AlignmentWeight The weight of the Alignment() steering method, which attempts to make an actors heading the same as that of this actor's neighbors. real
CohesionWeight The weight of the Cohesion() steering method, which attempts to stay close to this actor's neighbors. real
WanderWeight The weight of the Wander() steering method, which moves in a randomized forward direction, changing over time. real
ObstacleAvoidanceWeight The weight of the ObstacleAvoidance() steering method, which moves laterally away from obstacles in the forward direction. real
FormationWeight The weight of the Formation() steering method, which keeps actors moving in formation. real

SpawnPoint

Source: AIManager
SpawnPoint

Name Description Type Attributes Unit
Name The name of this spawn point. string ReadOnly
Enabled Set to false to stop object spawning. bool
SpawnTypeCollection The type of object this spawn creates. idvector
Path The path associated with the actors that are spawned. id
MaxTotalSpawns The max number of spawned objects that can be created, permanently. Use 0 for unlimited. uint32
MaxAliveSpawns The max number of spawned objects that can exist at any one time, 0 for unlimited number of objects uint32
SpawnDelay The delay between object spawns. real s
SpawnDelayRandomization The delay between object spawns. real s
TimeToSpawn The delay before the next wave spawns. real ReadOnly s
NearbyPathRadius Paths that start at a closer distance than this radius will be considered for usage, when no Path is explicitly set. real m
SpawnRadius Spawns will occur within this radius from the center of the spawn point. real m
ClearRadius Distance that will be checked for existing physical objects, which will prevent the next object from spawning. real m
PathCompletionMode Behavior to trigger when an object reached end of path. uint32
Objects List of objects created by spawn point. idset ReadOnly
TotalCreated Number of objects created. uint32 ReadOnly
AutoExpandClearRadius True if the spawn's ClearRadius property should be increased based on the size of the object spawned. bool

VehicleActor

Source: AIManager
VehicleActorObject

Name Description Type Attributes Unit
Current Path The path this actor will follow if in the correct state. id
PathCompletionMode Behavior to trigger when an object reaches end of path. uint32

Environment Manager

Source: Sim
EnvManager

Name Description Type Attributes Unit
Visible Environment Visibility bool
Name Environment Name string
FileName Environment File string ReadOnly
Date/Time Current Date/Time. datetime
Local Date/Time Current Local Date/Time. datetime Nonserializable
UTCOffset Offset from UTC Timezone in hours. float32
GlobalCoordinate Global Coordinate in LatLong coordinate
MaximumExtents Maximum allowed environmental extents. Coordinates outside this symmetric range will be ignored. vector3 m
Temperature Temperature real °C
AirPressure Air pressure real Advanced kPa
RelativeHumidity Relative Humidity (0-1) real Advanced
AirDensity Air Density in kg / m^3 real ReadOnly Advanced kg/m³
DefaultSurface Default Terrain Surface id
Use Dynamic Sunlight Whether to link a light marked as sunlight up to the sun position calculations. bool
Use Dynamic Ambient Light Whether to link the ambient light up to the sun position calculations. bool
JulianDate Julian date real ReadOnly
SunRightAscension Sun information based on GlobalCoordinate real ReadOnly °
SunDeclination Sun information based on GlobalCoordinate real ReadOnly °
SunAzimuth Sun information based on GlobalCoordinate real ReadOnly °
SunZenithAngle Sun information based on GlobalCoordinate real ReadOnly °
MoonRightAscension Moon information based on GlobalCoordinate real ReadOnly °
MoonDeclination Moon information based on GlobalCoordinate real ReadOnly °
MoonAzimuth Moon information based on GlobalCoordinate real ReadOnly °
MoonZenithAngle Moon information based on GlobalCoordinate real ReadOnly °

Light

Source: EnvironmentManager
Light

Name Description Type Attributes Unit
Name This light's name. string ReadOnly
Enabled If this light is currently enabled. bool ReadOnly
Type Type of light. uint32 ReadOnly
Diffuse Diffuse color. color
Specular Specular color. color
Range Maximum range of the light. real Advanced m
Inner Angle Range for the inner cone of a spot light. real Advanced °
Outer Angle Range for the outer cone of a spot light. real Advanced °
Falloff Falloff value for spot Light. real Advanced
Constant Attenuation Factor by which light diminishes over distance real Advanced
Linear Attenuation Factor by which light diminishes over distance real Advanced
Quadratic Attenuation Factor by which light diminishes over distance real Advanced
Shadows Enabled Whether shadows cast by this light are drawn. bool ReadOnly
IsSunlight Whether this light is a representation of the sun. bool ReadOnly
IsMoonlight Whether this light is a representation of the moon. bool ReadOnly
Color Temperature Color temperature of the light in Kelvins uint32
Lumen Value Measurement of brightness of the light uint32

Vegetation

Source: EnvironmentManager
Vegetation

Name Description Type Attributes Unit
Name Vegetation Name string
AssetName Asset name string
UsePhysics Use physics on the objects created. References the Asset for this info. bool
Density Default layer density. float32
MaxHeight Maximum height scale for physics-based objects float32 m
MinHeight Minimum height scale for physics-based objects float32 m
VehicleDragFactor Drag factor to apply to vehicles when traveling over this type of vegetation float32
LidarDensity Density of a particular surface, for the lidar sensor model float32
Reflectivity Surface reflectivity for the vegetation float32

TerrainCell

Source: EnvironmentManager
A single terrain cell

Name Description Type Attributes Unit
DefaultSurface Default surface for this cell id ReadOnly
HeightScale Max height of this cell = HeightScale, and min height = -HeightScale real ReadOnly
HeightOffset real ReadOnly
CellIndex Index of this cell uint16 ReadOnly
ConstantHeight If this should utilize a constant height bool ReadOnly

TerrainGrid

Source: EnvironmentManager
Heightmap based terrain grid

Name Description Type Attributes Unit
DefaultSurface Default surface for this cell id ReadOnly
CellSize Size for the length and width of each cell real ReadOnly m
BorderWalls True if ANVEL should create invisible walls around the terrain to prevent traveling beyond the borders. bool ReadOnly
GrassCellSize Cell size for grass population. real ReadOnly
ObjectCellSize Cell size for object population. real ReadOnly
NumCellsX Number of cells X uint16 ReadOnly
NumCellsY Number of cells Y uint16 ReadOnly
Origin Terrain Origin vector3 ReadOnly

TerrainSurfaceLayer

Source: EnvironmentManager
Surface layer for a terrain grid cell

Name Description Type Attributes Unit
Surface Surface for this layer id ReadOnly
Opacity Level of opacity float32 ReadOnly
Last saved filename for the blend map. Last saved filename for the blend map. string ReadOnly
Layer Thickness float32 m

TerrainVegetationLayer

Source: EnvironmentManager
Vegetation layer for a terrain grid cell

Name Description Type Attributes Unit
Vegetation Vegetation ID for this layer id ReadOnly
Opacity Level of opacity float32 ReadOnly
Filename Last saved filename for the density map. string ReadOnly

QuadTree

Source: EnvironmentManager
2D Hierarchical spatial structure.

Name Description Type Attributes Unit
MinCoord vector2 ReadOnly m
MaxCoord vector2 ReadOnly m
Reads uint64 ReadOnly
Writes uint64 ReadOnly
MemoryUsage uint64 ReadOnly
NodeCount uint32 ReadOnly
MapCount uint32 ReadOnly

Precipitation

Source: WeatherManager
Precipitation is a property of terrain cells and affects terrain layers

Name Description Type Attributes Unit
Name Name of the precipitation. string ReadOnly
Magnitude The mm / hr of precipitation accumulating real
TimeElapsed The seconds that have elapsed since precipitation began. real s

WeatherManager

Source: WeatherManager
Manager for weather aspects of the environment simulation

Name Description Type Attributes Unit
DefaultWeather The default weather across the entire environment uint32
Sky The current sky condition. uint32
WindForce The wind as a force in m/(sec^2) vector3
MaximumWindVariance Terrain cells can have slightly varied wind by adding a vector to the base Wind Force. This describes the maximum magnitude of that vector. real
AveragePrecipitationOnGround The mm of precipitation currently on the terrain, averaged float32 ReadOnly mm

Vehicle Manager

Source: Sim
VehicleManager

Name Description Type Attributes Unit
Visualization Vehicle Visualization bool
Apply Resistance Forces Apply post contact resistance forces. bool
Apply Resistance Torques Apply post contact resistance torques bool

Vehicle

Source: VehicleManager
Vehicle

Name Description Type Attributes Unit
Name ObjectName ReadOnly
Type VehicleType ReadOnly
FileName FileName ReadOnly
InputEnabled InputEnabled ReadOnly
Forward Speed Forward Speed ReadOnly m/s
Driven Distance Forward Distance Traveled ReadOnly m
AntiSwayScale AntiSwayScale
DragCoefficient Drag Coefficient
FrontalArea Frontal Area of the vehicle
AirResistance Drag Force due to air resistance. ReadOnly N
VegetationResistance Drag Force due to vegetation resistance. ReadOnly N
Mass Mass ReadOnly kg
Pitch Current Pitch ReadOnly rad
Yaw Current Yaw. Note that this is yaw in the compass space where 0 is north. This is different from the pure yaw rotation derived from its orientation, which uses 0 to represent forward. ReadOnly rad
Roll Current Roll ReadOnly rad
Yaw Rate Current Yaw Rate ReadOnly rad/s
Roll Rate Current Roll Rate ReadOnly rad/s
Rollover Metric Weight Transfer metric, used for detecting stability ReadOnly
Turn Radius Turn Radius ReadOnly m
Lateral Gs Lateral acceleration ReadOnly gs
Longitudinal Gs Longitudinal acceleration ReadOnly gs
Forward Speed Tolerance Vehicle will be considered 'Stationary' in forward direction if its forward speed is less then this value. m/s
Lateral Speed Tolerance Vehicle will be considered moving straight ahead if its lateral speed is less than this value. m/s
Lateral Acceleration Lateral Acceleration ReadOnly m/s²
Angular Momentum Angular Momentum ReadOnly Nms
Momentum VCS Momentum VCS ReadOnly Advanced
LocalVelocity ReadOnly m/s
LocalAccel ReadOnly m/s²
Acceleration XY Momentum XY ReadOnly Advanced
Limit Forward Resistance Limit Forward Resistance Advanced
Limit Lateral Resistance Limit Lateral Resistance Advanced
Limit Resistance Torque Limit Resistance Torque Advanced
Enable Vehicle Particle Effects Enable Vehicle Particle Effects
AntiRollStiffness N/m
AntiRollLimit N

ElectricMotor

Source: VehicleManager
Electric Motor Instance

Name Description Type Attributes Unit
Name Motor's name ReadOnly
Motor Type Type Name ReadOnly
Motor Speed Motor Speed ReadOnly
Wheel Speed Wheel Speed ReadOnly
Voltage Voltage ReadOnly
Current Current ReadOnly
RMS Current RMS Current ReadOnly
Torque Torque ReadOnly
Input Power Input Power ReadOnly
Output Power Output Power ReadOnly
RMS Power RMS Power ReadOnly
Energy In Energy Input ReadOnly
Energy Out Energy Output ReadOnly
Motor State Motor State ReadOnly
Log Debug Log Debug Messages Advanced Developer

ODEMotor

Source: VehicleManager
ODEMotor

Name Description Type Attributes Unit
RevLimit Rev limit rad/s
Idle RPM Engine Idle RPM rpm
Max Braking Torque Maximum Braking Force N
Torque Scale Torque Scale
Power Input Power (-1 to 1) ReadOnly
Final Gear Final Gear Ratio
Torque Curve Torque Curve
Motor State Motor State ReadOnly
Name Motor's name ReadOnly
Type Motor's type ReadOnly
Motor Speed Rad/s Motor Speed ReadOnly rad/s
Motor Speed RPM Motor Speed ReadOnly rpm
Relative RPM Motor Speed (0-1) ReadOnly
Gear Gear ReadOnly
CombinedGearRatio Combined Gear Ratio ReadOnly
GearRatio GearRatio ReadOnly
NextShiftSpeed ShiftSpeed ReadOnly m/s
ShiftDuration Time that a shift lasts s
AutomaticTransMode Park=0, Neutral=1, Reverse=2, Drive=3
DisableAutoShifts Set to true to force manual shifting
Uses CVT ReadOnly
CVT High Ratio
CVT Low Ratio
CVT Speed Factor
CVT Throttle Factor
CVT Top Speed
CVT Ratio ReadOnly
CVTWheelSpeed ReadOnly
EngineTorque Engine Torque ReadOnly Nm
EngineHorsepower Engine HP ReadOnly hp
Applied Torque Torque applied to road ReadOnly Nm
Braking Torque Braking Torque ReadOnly Nm
ResistanceTorque ResistanceTorque
EngineBodyRads ReadOnly rad/s
EngineResistance ReadOnly Nm
EngineTorqueGeneration ReadOnly Nm
EngineDrivetrainInput ReadOnly rpm
EngineAppliedResistance ReadOnly rpm
DrivetrainInertia ReadOnly
DrivetrainRPM ReadOnly rpm
CalculatedThrottle ReadOnly
ClutchBlending ReadOnly
ClutchScale
ImpellerTorque ReadOnly Nm
TcOutputTorque ReadOnly Nm
TC Efficiency ReadOnly
a0
a1
a2
b0
b1
b2

DCElectricMotorInstancePrototype

Source: VehicleManager
DC Electric Motor Prototype

Name Description Type Attributes Unit
Motor Type Type Name ReadOnly
Rated Current Rated Current
Maximum Current Maximum Current
Duty Cycle Duty Cycle(seconds)
Rated Speed Rated Speed
Maximum Speed Maximum Speed
Rated Voltage Rated Voltage
Maximum Voltage Maximum Voltage
Rated Power Rated Power
Inertial Mass Inertial Mass
Winding Resistance Winding Resistance
TorqueConstant torque Constant ReadOnly Developer
BackEMFConstant back EMF Constant ReadOnly Developer
Stall Torque Stall Torque Advanced Developer
Stall Current Stall Current Advanced Developer
Unloaded Current Unloaded Current Advanced Developer
Idle Current Idle Current Advanced Developer
Unloaded Speed Unloaded Speed Advanced Developer

ElectricMotorSpeedControllerTypeMgr

Source: VehicleManager
Electric Motor Speed Controller Type Mgr

Name Description Type Attributes Unit
Name Controller Name ReadOnly
Current Limit Type Current Limit Type
Braking Current Braking Current
Current Scale Current Scale

OpenLoopControllerInstance

Source: VehicleManager
Open Loop Controller Instance

Name Description Type Attributes Unit
Name Controller Name ReadOnly
Current Speed Current Speed ReadOnly
Computed Current Computed Current ReadOnly
Working Current Working Current ReadOnly

PID Speed Controller Type Mgr

Source: VehicleManager
PID Speed Controller Type Mgr

Name Description Type Attributes Unit
Name Controller Name ReadOnly
Kp Proportional Gain
Ki Integral Gain
Kd Derivative Gain
IntegrationTime Integration Time
BrakingCurrent Braking Current

PidMotorSpeedController

Source: VehicleManager
PID Motor Speed Controller

Name Description Type Attributes Unit
Name Controller Name ReadOnly
CurrentSpeed Current Speed ReadOnly m/s
TargetSpeed Target Speed ReadOnly m/s
ComputedCurrent Computed Current ReadOnly A
Error Error ReadOnly
WorkingCurrent Working Current ReadOnly
Relative Error Relative Error ReadOnly Advanced
Integral State Integral State ReadOnly Advanced
Derivative State Derivative State ReadOnly Advanced

DifferentialMotorControllerInstance

Source: VehicleManager
Differential Motor Controller Instance

Name Description Type Attributes Unit
Throttle Scale Throttle Scale
Steering Scale Steering Scale
Yaw Rate Actual Yaw Rate ReadOnly
Turn Radius Turn Radius ReadOnly m
Left Motor Power Left Motor Power ReadOnly
Right Motor Power Right Motor Power ReadOnly

CustomMotorControllerInstance

Source: VehicleManager
Custom Motor Controller Instance

Name Description Type Attributes Unit
Use Controlled Steering Use Controlled Steering
Reverse Inner Wheel Reverse Inner Wheel
Max Target Speed Max Target Speed
Max Acceleration Max Forward Acceleration
Max Target Yaw Max Target Yaw
Max Lateral Acceleration Max Lateral Acceleration
Max Yaw Acceleration Max Yaw Acceleration
Throttle Scale Throttle Scale
Steering Scale Steering Scale
Target Speed Target Speed ReadOnly
Forward Speed Forward Speed ReadOnly
Forward Acceleration Forward Acceleration ReadOnly
Max Vehicle Speed Max Vehicle Speed ReadOnly
Left Target Speed Left Target Speed ReadOnly Developer
Right Target Speed Right Target Speed ReadOnly Developer
Current Speed Left Current Speed Left ReadOnly Developer
Current Speed Right Current Speed Right ReadOnly Developer
Target Yaw Rate Target Yaw Rate ReadOnly
Yaw Rate Actual Yaw Rate ReadOnly
Yaw Acceleration Yaw Acceleration ReadOnly
Target Lateral Accel Target Lateral Acceleration ReadOnly Developer
Lateral Accel Lateral Acceleration ReadOnly
Turn Radius Turn Radius ReadOnly
Left Motor Power Left Motor Power ReadOnly Developer
Right Motor Power Right Motor Power ReadOnly Developer
Yaw Control:kP Yaw Control:kP
Yaw Control:kI Yaw Control:kI
Yaw Control:kD Yaw Control:kD
Yaw Control:kT Yaw Control:kT

BatterySystem

Source: VehicleManager
Vehicle Battery System

Name Description Type Attributes Unit
Total Power (kW) Power ReadOnly kW
Total Energy (kJ) Energy ReadOnly kJ
Average Voltage Voltage ReadOnly
Average Current Current ReadOnly
Charge Level Charge Level ReadOnly
Charge Percent Charge Percent ReadOnly
Discharge Rate Discharge Rate ReadOnly
Brake Type Brake Type
Debug Level Debug Level Advanced

ODEStrutInstance

Source: VehicleManager
ODE Strut Instance

Name Description Type Attributes Unit
Strut Length in Z Strut Length in Z ReadOnly
Total Strut Length Strut Length ReadOnly
Spring Force Spring Force ReadOnly
Strut Speed Strut Speed ReadOnly
Damping Force Damping Force ReadOnly
Total Force Total Force ReadOnly

ODEStrutTemplate

Source: VehicleManager
ODE Strut Prototype

Name Description Type Attributes Unit
Spring Constant Spring Constant
Damping Damping
Initial Force Initial Force
Spring Force Scale Spring Force Scale
Damping Force Scale Damping Force Scale
Base Length Base Length ReadOnly
Use Polynomial Spring Force Use Polynomial Spring Force
Use Polynomial Damping Force Use Polynomial Damping Force

TorqueSplitter

Source: VehicleManager
TorqueSplitter

Name Description Type Attributes Unit
Name Name ReadOnly
Efficiency Efficiency
Type Type
OutputMode Mode
SlipLimits
Locked
GearIndex
InputTorque ReadOnly Nm
Output1Torque ReadOnly Nm
Output2Torque ReadOnly Nm
ReductionRatio ReadOnly
OutputRpm1 ReadOnly rpm
OutputRpm2 ReadOnly rpm

DiscBrake

Source: Vehicle Manager
Disc Brake

Name Description Type Attributes Unit
Effective Radius Effective Radius of the brake pad real m
Mu Mu value for the pad against the rotor. real
Surface Area Surface Area of the brake pad against the rotor. real
Caliper Type Type of caliper this brake uses. int32
Caliper Piston Area Surface Area of the caliper pistons against the brake pad. real
Heat Dissipation Constant real
Mass real
SpecificHeatCapacity real
OutputTorque The braking force torque factor. real ReadOnly
OutputScale The braking force scale factor. real
Temperature Temperature. real ReadOnly °C
InputPressure Brake line input pressure. real ReadOnly Pa

DrumBrakes

Source: Vehicle Manager
Drum Brakes

Name Description Type Attributes Unit
Mu Mu value for the pad against the rotor. real
Angle of Shoe engagement Angle (out of one quadrant) of shoe coverage. real °
DrumRadius Radius of the drum. real m
AnchorToFulcrum Distance from anchor point to fulcrum real m
ShaftToShoePins Distance from the shaft to the shoe pins. real m
ShoeToWheelCylinder Distance from the shoe to wheel cylinder. real m
ShoeConfiguration . int32
HeatDissipationConstant real
Mass real kg
PistonArea real
SpecificHeatCapacity real
OutputTorque The braking torque produced by this brake. real ReadOnly
OutputScale The braking force scale factor. real
Temperature Temperature real ReadOnly °C
InputPressure Brake line input pressure. real ReadOnly Pa

SimpleBrakes

Source: Vehicle Manager
Simple Brakes

Name Description Type Attributes Unit
OutputTorque The torque applied to the wheel real ReadOnly
OutputScale The braking force scale factor. real
Temperature Temperature of this brake. real ReadOnly °C
InputPressure Brake line input pressure. real ReadOnly Pa

BrakeController

Source: Vehicle Manager
Brake Controller

Name Description Type Attributes Unit
ABSEnabled Enable/Disable ABS (if configured) bool
OutputPressureScale Scale to apply to output pressure. real
NonLinearPedalScale Apply a non-linear input mapping to allow easier manual input. bool
Input Values namevaluelist ReadOnly

TireDefinition

Source: Vehicle Manager
Global Tire Definition

Name Description Type Attributes Unit
Name Definition Name string ReadOnly

SimpleAIController

Source: SimpleAIControllerFactory
A controller that generates input to guide controllables along a path of waypoints

Name Description Type Attributes Unit
Controlled Object Object controlled by this controller id Nonserializable
MaxSpeed real Nonserializable m/s
PositionTolerance Tolerance for marking a path point as completed. real Nonserializable m
Path Name of path to follow id Nonserializable
FollowPath bool Nonserializable
Diff Steer Turn Rate Differential Steering Turn Rate real Nonserializable
Std Steer Turn Rate Standard Steering Turn Rate real Nonserializable
Angular Tolerance The number of radians away from heading straight toward the goal the controller will tolerate. Within tolerance, it will target MaxSpeed. Otherwise, it uses target speed * (AngularTolerance/AngleToGoal). real Nonserializable rad
Path Following A factor that affects how much the vehicle cares about being on course real Nonserializable
Curve Smoothing A factor that smooths or sharpens the turns the vehicle makes real Nonserializable
Look Ahead Scale Scales how far ahead of the next waypoint the controller will take action. real Nonserializable
Closed Loop Control Whether or not the algorithm assumes a closed loop motor controller int32 Nonserializable
Angle From Goal The calculated angle off from our goal radian ReadOnly Nonserializable rad
Total Energy Tracks total energy consumed by motor, if the motor supports that. real ReadOnly Nonserializable
PathPointIndex The point index into the path currently being followed. uint32 Nonserializable
VehicleMaxSpeed Max Speed (m/s) real Nonserializable m/s

SimpleANSController

Source: SimpleANSControllerFactory
A controller that guides to a specified yaw and speed

Name Description Type Attributes Unit
YawInputMultiplier real
SpeedInputMultiplier real
SaturatedSteeringThrottleValue real
SaturatedSteeringValue real
SteeringSaturationAngle real
PostSteeringMult real
PostThrottleMult real
AccelFactor real
DecelFactor real
SteerFactor real
ZeroThrottle bool
ZeroSteering bool
UseRootOfYaw bool
NormalizeOutput bool
Throttle Current throttle int32 ReadOnly
Steering Current throttle int32 ReadOnly
RawDesiredSpeed real ReadOnly m/s
RawDesiredYaw real ReadOnly rad/s
DesiredSpeed real ReadOnly m/s
DesiredYawRate real ReadOnly rad/s
ActualSpeed real ReadOnly m/s
ActualYawRate real ReadOnly rad/s
Yaw P Coefficient real
Yaw I Coefficient real
Yaw D Coefficient real
Yaw I State real ReadOnly
Yaw D State real ReadOnly
Yaw I State Min real
Yaw I State Max real
Speed P Coefficient real
Speed I Coefficient real
Speed D Coefficient real
Speed I State real ReadOnly
Speed D State real ReadOnly
Speed I State Min real
Speed I State Max real
Use User Input bool
User Speed real m/s
User Yaw Rate real rad/s

PointAIController

Source: PointAIControllerFactory
A controller that generates input to guide controllables toward a single goal point

Name Description Type Attributes Unit
MaxSpeed Max Speed real m/s
Target Point Position to seek to vector3
Diff Steer Turn Rate Differential Steering Turn Rate real
Std Steer Turn Rate Standard Steering Turn Rate real
Angular Tolerance The number of radians off from heading straight toward the goal the controller will tolerate real rad
Path Following A factor that affects how much the vehicle cares about being on course real
Curve Smoothing A factor that smooths or sharpens the turns the vehicle makes real
Closed Loop Control Whether or not the algorithm assumes a closed loop motor controller int32 ReadOnly
Angle From Goal The calculated angle off from our goal radian ReadOnly rad

ParametricController

Source: ParametricControllerFactory
A controller that guides the controllables to perform predefined maneuvers. It is useful for repeated testing or for tuning a model for specific parameters.

Name Description Type Attributes Unit
ControlMode Mode of control; Selected Maneuver to perform. uint32
ControlStage uint32
ControllableID The object currently being controlled. id ReadOnly
Duration real ReadOnly s
CalculatedSteering real ReadOnly
CalculatedThrottle real ReadOnly
CalculatedBraking real ReadOnly
CalculatedClutch real ReadOnly
TimeScalar real
ThrottleP Proportional real
ThrottleI Integral real
ThrottleD Derivative real
DefaultThrottle real
DefaultSteering real
DefaultBraking real
Throttle Override real
Steering Override real
Braking Override real
DesiredEntrySpeed Minimum speed required to trigger action real k/hr
DesiredLatAcce In Gs real gs
CurrentSpeed Current speed real ReadOnly k/hr
CurrentRollRate real ReadOnly
LateralAccel Lateral acceleration in g's real ReadOnly gs
SteeringForLatAccel real ReadOnly
SteeringGain real
SteeringForOneThirdG real
SteeringThreshold Values below the SteeringThreshold are treated as 0.0 real
SteeringSaturationPoint Values above the SteeringThreshold are treated as 1.0 real
FirstChangeDuration Used during dual lane change. real s
StabilizationDuration Used during dual lane change. real s
SecondChangeDuration Used during dual lane change. real s
FirstTurnScalar real
SecondTurnScalar real

ReplayManager

Source: Sim
ReplayManager

Name Description Type Attributes Unit
Input Directory The current input directory. string Nonserializable
Output Directory The current output directory. string Nonserializable

Replay

Source: ReplayManager
Replay

Name Description Type Attributes Unit
File File this replay is loaded from. ReadOnly
Elapsed Time Time elapsed within the replay. ReadOnly

ReplayWriter

Source: ReplayManager
ReplayWriter

Name Description Type Attributes Unit
File Name of the file being written to. ReadOnly
State Logging state. ReadOnly
Paused Whether the writer is paused. ReadOnly

ReplayGroup

Source: ReplayManager
ReplayGroup

Name Description Type Attributes Unit
Time Time of the replay. ReadOnly
Length Length of the replay. ReadOnly
Speed Playback speed.

ReplayWriterGroup

Source: ReplayManager
ReplayWriterGroup

Name Description Type Attributes Unit
Paused Whether this replay writer group is paused. ReadOnly

Surface

Source: VTIManager
A physical surface type, such as dirt, asphalt, mud...

Name Description Type Attributes Unit
Name Surface Name string ReadOnly
Description Surface Description string ReadOnly
Particle Mode How particles should be generated from this surface uint32
Particle Particle Asset Name string
Particle Value Threshold or modifier for particles real
Track Mode How tracks should be left on this surface uint32
Track Value Threshold or modifier for laying tracks real
Color Debug Color color ReadOnly
Reflectivity Infrared Reflectivity real
Density Initial Density real kg/m³
SurfaceFlags Flags describing surface properties. uint32
BulldozingFactor Affects soil bulldozing tendency. real
SinkagePressureModel Which sinkage pressure model to utilize with this surface. uint32
SinkagePressureModelParam1 Sinkage model parameter 1. float32
SinkagePressureModelParam2 Sinkage model parameter 2. float32
SinkagePressureModelParam3 Sinkage model parameter 3. float32
SinkagePressureModelParam4 Sinkage model parameter 4. float32
SinkagePressureModelParam5 Sinkage model parameter 5. float32
SinkagePressureModelParam6 Sinkage model parameter 6. float32
SinkagePressureModelParam7 Sinkage model parameter 7. float32
Cohesion real kPa
FrictionAngle real °

ODEVTI

Source: Sim
ODE Friction VTI

Name Description Type Attributes Unit
GlobalMuScale Scale applied to all surface mu values. real
GlobalMu2Scale Scale applied all surface mu2 values real
GlobalSlipScale Scale applied to all surface slip values. real
GlobalSlip2Scale Scale applied all surface slip values real
UseDefinedMu2 Use the defined values for mu2. Otherwise, this will generate mu2 from mu and the scale properties. bool
DiffSteerMu2Scale Scale applied to generate mu2 from mu if we are using differential steering. real
NormalSteerMu2Scale Scale applied to generate mu2 from mu if we are using normal steering. real
TreadMuScale Scale applied to longitudinal friction for treaded vehicles. real
TreadMu2Scale Scale applied to lateral friction for treaded vehicles. real
MaxLayerDisplacementPerCell Max displacement depth per cell. real
DeformableSurfaceStiffnessScale Converts surface force to contact spring values. real
EnableDeformation Enable the use of deformable terrain. bool
EnableDeformationApplication Enable the modification of terrain bool
EnableDeformableGridDebug Enable the display of a wheel centric debug view of the current terrain deformation. bool
EnableDirectionalDisplacement Enable terrain displacement based on the direction of travel of the wheel. bool
EnableTireStiffness Enable soft tire contacts using tire stiffness values. bool
EnableSinkageResistance Enable additional resistance based on sinkage values. bool

ODESurfaceProperties

Source: Sim
Surface Properties for ODE VTI

Name Description Type Attributes Unit
Name Surface Name string ReadOnly
Friction Friction in the forward direction real
Friction2 Friction in the lateral direction real
Slip1 Slip in the forward direction real Advanced
Slip2 Slip in the lateral direction real Advanced
SoftCFM SoftCFM real Advanced
SoftERP SoftERP real Advanced
Bounce Bounce real Advanced
MinBounceVel MinBounceVel real Advanced
Surface Mode Surface Mode int32 Advanced
Rolling Resistance1 Rolling Resistance1 real
Rolling Resistance2 Rolling Resistance lateral real
Spinning Resistance Spinning Resistance real
SurfaceDamping Deformable surface damping. real
LongitudinalResistanceFromSinkage real
LateralResistanceFromSinkage real
SlipPressureModification real

SensorManager

Source: Sim
Sensor Manager

Name Description Type Attributes Unit
EnableSensorSimulation Enable simulation of sensors. bool
Update Time Sensor update time (ms). real ReadOnly Nonserializable

Sensor

Source: SensorManager
Sensor

Name Description Type Attributes Unit
SensorID Sensor's unique ID. ReadOnly
Name Sensor's unique name. ReadOnly
Type Sensor's type. ReadOnly
Sample Rate (Hz) Sample rate.
Fidelity Simulation Fidelity of this sensor instance.
Enabled If this sensor is enabled.
Elapsed Time Elapsed time for this sensor. ReadOnly s
Last Sample Time Time that the sensor recorded its last data. s
Processing Time Duration of last processing cycle. s

LidarSensor

Source: SensorManager
Lidar

Name Description Type Attributes Unit
MinPitch Minimum Pitch real °
MaxPitch Maximum Pitch real °
Pitch Current Pitch real ReadOnly °
HorizontalFOV Horizontal FOV real °
Period Period real s
NumRays Rays per horizontal scan. uint32
NumVerticalRays Rays per vertical scan. uint32
ClockwiseRotation If the LIDAR scans in a clockwise direction, set this to true. bool
Range Maximum Range real ReadOnly m
EncodingScale Scale to convert distance values to 2 byte integer values. real
a Required Reflectivity coefficient a ( ax^2 + bx + c) float32
b Required Reflectivity coefficient b ( ax^2 + bx + c) float32
c Required Reflectivity coefficient c ( ax^2 + bx + c) float32
EnableAccuracyError Enable or Disable the random accuracy error calculations. bool
UseGPU Enable or Disable the GPU Lidar simulation. bool
EnableDebugRendering Enable or Disable debug rendering. bool
TestVeg Enable or Disable the rendering based method to report vegetation reflections. bool
AccuracyErrorClose First value of accuracy error, in meters. real m
ErrorCloseDistance Distance below which the first value of accuracy error will be used. real m
AccuracyErrorMedium Second value of accuracy error, in meters. real m
ErrorMediumDistance Distance below which the second value of accuracy error will be used. real m
AccuracyErrorFar Third value of accuracy error, in meters real m
ErrorFarDistance Distance below which the second value of accuracy error will be used. real m
Render Divisions Render Divisions in the 360 FOV of the LIDAR. 6 would imply a 60 degree FOV for each render. uint32

RangeSensor

Source: SensorManager
RangeSensor

Name Description Type Attributes Unit
Range Maximum Range float32 m

GPSSensor

Source: SensorManager
GPSSensor

Name Description Type Attributes Unit
Enabled Measurement resolution bool
Mode Sensor Mode uint32
Latitude Angular distance north or south of the equator. real ReadOnly
Longitude The angular distance east or west of the Greenwich meridian real ReadOnly
Elevation Height above sea level real ReadOnly m
ErrorRadius How close the calculated position is from the truth real ReadOnly m
Signal Is the GPS getting a signal bool ReadOnly
Heading Direction device is facing radian ReadOnly rad

IMUSensor

Source: SensorManager
IMUSensor

Name Description Type Attributes Unit
TruePosition True Position vector3 ReadOnly m
TrueHeading True Heading real ReadOnly rad
Acceleration Measured Acceleration vector3 ReadOnly m/s²
TrueAcceleration Actual Acceleration vector3 ReadOnly m/s²
RotationRate Measured Rotation Rates vector3 ReadOnly rad/s
TrueRotationRate Actual Rotation Rates vector3 ReadOnly rad/s
AccelerationErr Acceleration Error vector3 ReadOnly m/s²
Yaw Yaw real ReadOnly rad
Type IMU Type uint32
MEMSTemp Temperature at the MEMS sensors real
MEMSOmega0 Natural frequency of the proof-mass MEMS real
MassAccel Mass of the proof mass real
MassGyro Mass of the gyro real
Quality Quality factor of the MEMS sensors (must be < 0.5) real
AccelQError Quantization constant from Allan variance analysis of MEMS noise real
GyroQError RLG noise real
GyroCurrentDiff Difference in output current between the two legs of the RLG real
GyroCurrentSum Sum of the output currents for the Ring Laser Gyro real
GyroH Constant related to Ring Laser Gyro geometry real
GyroLength Length of one side of the Ring Laser Gyro real
GyroCavityLoss Laser loss (in ppm) real
GyroCavityTransmission Laser transmission (in ppm) real
LaserOutputPower Laser output power real
MEMSAccelScaleError MEMS sensor scale errors real
AccelCorrelationTime GM correlation time for the MEMS real
AccelWhiteNoise White noise distribution for the MEMS real
AccelZeroOffset Zero offset for the MEMS (randomly generated at each start up) real
GyroScale RLG scale errors real
GyroCorrelationTime RLG correlation time for GM real
GyroWhiteNoise RLG white noise real
GyroZeroOffset RLG zero offset real
GyroK real
GyroB real
GyroR real

CameraSensor

Source: SensorManager
CameraSensor

Name Description Type Attributes Unit
Enabled bool

CameraLens

Source: SensorManager
CameraLens

Name Description Type Attributes Unit
Enabled If this lens is currently enabled. bool
Offset Position Offset vector3 m
Orientation Orientation Offset from Parent quaternion
RenderingEffects Rendering effects to apply to the lens string
HorizontalFOV Horizontal Field of View angle. Only utilized when Focal Length is 0. real °
VerticalFOV Vertical Field of View angle. Only utilized when Focal Length is 0. real °
CCDWidth Horizontal size of the receptor sensor real mm
CCDHeight Vertical size of the receptor sensor real mm
FocalLength Focal Length. Set this to 0 to use manual real mm
ImageWidth Width of Image in Pixels uint32 ReadOnly
ImageHeight Height of Image in Pixels uint32 ReadOnly

CompassSensor

Source: SensorManager
CompassSensor

Name Description Type Attributes Unit
Reading Current heading. real ReadOnly °
ReadingError Error in the last measurement. real ReadOnly °
Resolution Measurement resolution real
Error This compass' error metric. real
Constant Offset real °

RFIDSensor

Source: SensorManager
RFIDSensor

Name Description Type Attributes Unit
Distance Distance real ReadOnly m
Angle Relative Angle real ReadOnly °
Error This sensor's error metric. real
Resolution Measurement resolution. real
Range Maximum receiver range. real m
ErrorEnabled If this sensor should include simulated error. bool

TemperatureSensor

Source: SensorManager
TemperatureSensor

Name Description Type Attributes Unit
Temperature Temperature real ReadOnly °C
ErrorEnabled If this sensor should include simulated error. bool
Error Error range real
Resolution Granularity of measurements, in degrees Celsius real

MoistureSensor

Source: SensorManager
MoistureSensor

Name Description Type Attributes Unit
Enabled True, if enabled bool
Reading Moisture detected real ReadOnly

ViewManager

Source: Sim
ViewManager

Name Description Type Attributes Unit
Selection Enabled Whether object selection is enabled. bool ReadOnly

View

Source: ViewManager
View

Name Description Type Attributes Unit
Name This view's name. string ReadOnly
Type Type of view. string ReadOnly
Implementation The type of implementation this view is using. string ReadOnly
Position Position vector3 m
Orientation Orientation of the view. quaternion
DisableAutoPoseUpdate Disable this viewpoint from receiving forced pose updates. bool

ViewController

Source: ViewManager
ViewController

Name Description Type Attributes Unit
Enabled Whether this controller is active. bool
Selection Enabled Whether this controller allows selection. bool

ViewControllerInputCollector

Source: ViewManager
ViewControllerInputCollector

Name Description Type Attributes Unit
Enabled Whether this input collector is active. bool
Yaw Rate Yaw rotation rate. real rad/s
Pitch Rate Pitch rotation rate. real rad/s
Translation Rate Translation rate. real m/s
Zoom Rate Zoom rate. real

Package

Source: PackageManager
AnvelPackage

Name Description Type Attributes Unit
Name Name of this package. string
Description Package description. string
Publisher Publisher of this package. string
Version Package version. string
PublishDate Date this package was published. string
Copyright Copyright info for this package. string
Restrictions Usage restrictions for this package. string
Authors Package authors. string
License Package license. string
AnvelInfo Package license. string
ObjectDefFiles Object Definition Filename stringvector
SurfaceDefFiles Surface Definition Filename stringvector
VegetationDefFiles Vegetation Definition Filename stringvector
SensorDefFiles Sensor Definition Filename stringvector
Plugins Plugin Definition Filename stringvector
AssetCollectionFiles Asset Collection Filename stringvector

AssetCollection

Source: PackageManager
AssetCollection

Name Description Type Attributes Unit
Name Name of this asset collection. string

Tag

Source: Core
TagComponent

Name Description Type Attributes Unit
Tags List of tags namevaluelist

LifetimeComponent

Source:
Lifetime Management Component

Name Description Type Attributes Unit
RemainingTime Remaining time until object destruction. real s

AudioSource

Source:
AudioSource Component

Name Description Type Attributes Unit
Enabled bool
Filename string
Volume float32
IsLooping If this sound is a looping sound. bool

TriggerVolume

Source:
Detects entries and exits within a volume defined by the scale of the associated object.

Name Description Type Attributes Unit
ContainedObjects Ids of the objects located within our trigger volume. idvector ReadOnly
OnEnterCommand Name of the command to call when an object enters the volume. string
OnEnterArguments Command arguments. string
OnEnterIdArgumentIndex Position of the ID argument for the OnEnterCommand. Use a negative value to ignore this. int32
OnExitCommand Name of the command to call when an object exits the volume. string
OnExitArguments Command arguments. string
OnExitIdArgumentIndex Position of the ID argument for the OnExitCommand. Use a negative value to ignore this. int32

MotionController

Source:
MotionController Component

Name Description Type Attributes Unit
StartVelocity vector3 m/s
EndVelocity vector3 m/s
StartOrientation quaternion
EndOrientation quaternion
InterpolationDuration Determines the duration of the interpolation for velocity and orientation changes. real s
VelocityInLocalSpace True if this velocity is in local coordinate space. bool
ElapsedTime Elapsed time. Should be reset when velocity or orientation values are changed. real s

ParticleComponent

Source:
Particles

Name Description Type Attributes Unit
Enabled Enable or disable this particle. bool
Position Position offset from parent object. vector3
CreationTime Time of particle creation. real
Delay Particle delay. float32
AutoExpire Automatic expiration. bool

ParticleComponentDefinition

Source:
ParticleComponent definition.

Name Description Type Attributes Unit
Template Ogre Template name string
Delay Emitter delay. real
AutoExpire Expire after particle emission completed.. bool

OgreRenderer

Source: VaneOgreRenderer
OgreRenderer

Name Description Type Attributes Unit
Visualization Visualization bool
RenderingSystem Ogre Rendering System string ReadOnly Nonserializable
HardwareGraphicsVendor Graphics hardware vendor string ReadOnly Nonserializable
HardwareGraphicsDevice Graphics hardware device name string ReadOnly Nonserializable
HardwareGraphicsDriverVersion Graphics hardware driver version string ReadOnly Nonserializable
RenderTime(ms) Rendering Time in milliseconds. real ReadOnly Nonserializable
RenderTargetTime(ms) Rendering Time in milliseconds for render targets. real ReadOnly Nonserializable
CurrentFPS CurrentFPS float32 ReadOnly Advanced Nonserializable
AverageFPS AverageFPS float32 ReadOnly Nonserializable
VisibilityFlags uint32 ReadOnly
TriCount TriCount uint64 ReadOnly Advanced Nonserializable
BatchCount BatchCount uint64 ReadOnly Advanced Nonserializable
FrameRateCap FrameRateCap real
UsedTextureMem Texture Memory Used real ReadOnly Advanced Nonserializable
UsedMeshMem Texture Memory Used real ReadOnly Advanced Nonserializable
UsedSkeletonMem Skeleton Memory Used real ReadOnly Advanced Nonserializable
UsedMaterialMem Material Memory Used real ReadOnly Advanced Nonserializable
UsedCompositorMem Compositor Memory Used real ReadOnly Advanced Nonserializable
UsedGPUProgramMem GPUProgram Memory Used real ReadOnly Advanced Nonserializable
TotalUsedMem Total Rendering Memory Used real ReadOnly Advanced Nonserializable
Shadow Type Shadow Type uint32 Advanced
Shadow App Shadow Application uint32 Advanced
Shadow Proj Shadow Projection uint32 Advanced
Shadow Integration Shadow Integration uint32 Advanced
Depth Shadows Use depth shadows. bool Advanced
Shadow Dist Shadow Distance float32 Advanced
Shadow Color Shadow Color color Advanced
ShadowDebug ShadowDebugRendering bool Advanced
Max. Allowed Lights Maximum number of lights that will be rendered in the scene. uint32
Use Manual Split Points bool Advanced
Split Points vector4 Advanced
Split Padding float32 Advanced
Light Direction Threshold float32 Advanced °
Enable Tracks Enable Tracks bool
Fog Mode Fog Mode int32
Fog Color Fog Color color
Fog Density Density of the fog. Value depends on specific fog mode. float32
Fog Linear Start float32 m
Fog Linear End float32 m
Timeouts uint64 Developer
Wakeup uint64 Developer

OgreRenderContext

Source: VaneOgreRenderer
OgreRenderContext

Name Description Type Attributes Unit
Name Name of this context string
Draw Flags Visibility uint32
Visual Effects Currently enabled visual effects uint64
Clear Color Changes the render clear color color
UseIncludeObject . bool
AllowManipulator . bool
IsActive . bool
DeduceAspectRatio If true, aspect ratio will be deduced from window size. bool
AspectRatio Aspect ratio for this view. Not utilized if DeduceAspectRatio is true. float32
VerticalFieldOfView Vertical FOV. If this is 0, it will be deduced automatically from aspect ratio. float32 °
PolygonMode Retrieves the polygon rendering mode for this render context. This controls 3d objects in the scene are rendered. As of Ogre 1.10, possible options are PM_POINTS, PM_WIREFRAME, and PM_SOLID. PM_POINTS will render only the vertices of every mesh, PM_WIREFRAME will draw the primitives (triangles) that each set of vertices forms, and PM_SOLID will draw a typical rendered scene with fully-solid objects. int32
NearClippingDistance Near clipping plane distance from camera. Objects closer than this will not be shown. float32 m
FarClippingDistance Far clipping plane distance from camera. Objects further than this will not be shown. float32 m
LodBias Level of detail bias. Higher values increase the detail. 1.0 is the default. float32

Label

Source:
Label for rendering text by an object in the world view.

Name Description Type Attributes Unit
Enabled Enable or disable this label. bool
Text Text to display above offset. string
PositionOffset Position offset for text data. vector3
UseLocalFrame True if this position should use the objects local frame, or false for global frame. bool
Color Text rendering color. Alpha is ignored. color
CharacterHeight Character height in pixels. uint16

MaterialOverride

Source:
Material override for Ogre Submesh.

Name Description Type Attributes Unit
MaterialName string
SubmeshIndex int16
MaterialSet stringvector
MaterialSetIndex int16

AnimationController

Source:
Manage animation for Ogre representations.

Name Description Type Attributes Unit
Animation Name of the animation to use. string
Loop Loop the animation when it is finished. bool
Speed Rate at which the animation will play. float32
SupportedAnimations Listing of available animations on this object. stringvector ReadOnly

Ogre3dRenderableDefinition

Source: Ogre3dRenderer

Name Description Type Attributes Unit
Position Position offset from object transform. vector3
Orientation Rotation offset from object transform. quaternion
Scale Mesh scale. vector3
InitialEntityIndex Index of the entity to use. uint32
Opacity Renderable opacity. float32
TextureScrollMode Texture scroll mode. int32
ModeledZUp True if this mesh was modeled with Z as the up axis. bool
IgnoreModelRotation True if ANVEL should skip initial model rotation calculations. Rarely used. bool
CastsShadows Allow mesh to cast shadows. bool
InitialAnimation Initial animation string
LoopAnimation Loop animations bool
SpecialRenderableParameter Miscellaneous parameter value for use with the special renderable system. float32

Ogre3dMeshDefinition

Source: Ogre3dRenderer

Name Description Type Attributes Unit
Name Name of this instance. string
MeshFile File name of mesh to use. string
SkeletonFile File name of the skeleton to use, if not the default set in the mesh. string
MaterialOverride Name of the new material to use, if not using the default set in the mesh. string
EnvironmentMapName Name of the environment map we should generate, if any. string
MaxRenderDistance Maximum distance from the camera to allow rendering. float32
BuildTangentVectors If this mesh requires tangent generation for normal map usage. bool
UseAutoLodGeneration If this mesh should automatically create LOD meshes. bool
UseManualLod If this mesh has manually set LOD profiles. bool
LodMeshes Additional meshes to use as LOD values. stringvector
UseSurfaceTexture If this mesh should use a material override based upon its physics surface. bool
LinkedSkeletons Additional animation skeletons to link. stringvector

Ogre3dObject

Source: VaneOgreRenderer
Ogre3dObjectRepresentation

Name Description Type Attributes Unit
PositionOffset Position offset from the origin of the owning World Object. vector3 m
OrientationOffset Orientation offset from the origin of the owning World Object. quaternion
MeshExtents Size of loaded renderable mesh. vector3 ReadOnly
UseSurfaceTexture True if this should change its material to match what physics surface it is representing. bool

PointCloudDefinition

Source: Ogre3dRenderer
PointCloudDefinition

Name Description Type Attributes Unit
Offset Position offset from object transform. vector3
Rotation Rotation offset from object transform. quaternion
Scale Renderable scale. vector3
FileName File name of the pointcloud to use. string
Color Default point color to use. color

GpsApi

Source: GpsApiPlugin
GPS System

Name Description Type Attributes Unit
alpha Alpha value for moving exponential average
sigmaNoCorrection Sigma for raw GPS error
sigmaRTK Sigma for RTK corrected signal
sigmaSBAS Sigma for SBAS corrected signal
useRTK Use RTK correction
useSBAS Use SBAS correction
useErrors Add error to sensor

APICameraSensor

Source: API Camera Sensor Plugin
API Camera Sensor

Name Description Type Attributes Unit
Port TCP Port Number uint32
Shared Memory Name The Name of the Shared memory segment string
Quality Streaming Video JPEG Quality uint32

APICameraLens

Source: SensorManager
API Camera Lens

Name Description Type Attributes Unit
Enabled If this lens is currently enabled.
Offset Position Offset
Orientation Orientation Offset from Parent
RenderingEffects Rendering effects to apply to the lens
HorizontalFOV Horizontal Field of View angle (degrees)
VerticalFOV Vertical Field of View angle (degrees)
CCDWidth(mm) Horizontal size of the receptor sensor in mm
CCDHeight(mm) Vertical size of the receptor sensor in mm
Focal Length(mm) Focal Length in mm
ImageWidth Width of Image in Pixels ReadOnly
ImageHeight Height of Image in Pixels ReadOnly

PacejkaVTIModel

Source: PacejkaVTIModelPlugin
Pacejka VTI Model

Name Description Type Attributes Unit
Tire Resistance Use Tractive Torque real
UnPoweredLinDamping real
UnPoweredAngDamping real
Use Deflection If we should use dynamic deflection. bool
Debug Draw True if our debug rendering should be enabled. bool
Use Soft Contact Enable soft cfm and erp for contact joints. bool
SidewallForceScale Scale value for sidewall force real
SidewallForceMax Maximum value for sidewall force. real

PacejkaTireDefinition

Source: PacejkaVTIModel
Tire Definition

Name Description Type Attributes Unit
Name string ReadOnly
nominalLoad real
unloadedRadius real
tireBeltMass real
verticalStiffness real
verticalDamping real
pcx1 pcx1 real
pdx1 pdx1 real
pdx2 pdx2 real
pdx3 pdx3 real
pex1 pex1 real
pex2 pex2 real
pex3 pex3 real
pex4 pex4 real
pkx1 pkx1 real
pkx2 pkx2 real
pkx3 pkx3 real
phx1 phx1 real
phx2 phx2 real
pvx1 pvx1 real
pvx2 pvx2 real
rbx1 rbx1 real
rbx2 rbx2 real
rcx1 rcx1 real
rex1 rex1 real
rex2 rex2 real
rhx1 rhx1 real
ptx1 ptx1 real
ptx2 ptx2 real
ptx3 ptx3 real
pcy1 pcy1 real
pdy1 pdy1 real
pdy2 pdy2 real
pdy3 pdy3 real
pey1 pey1 real
pey2 pey2 real
pey3 pey3 real
pey4 pey4 real
pky1 pky1 real
pky2 pky2 real
pky3 pky3 real
phy1 phy1 real
phy2 phy2 real
phy3 phy3 real
pvy1 pvy1 real
pvy2 pvy2 real
pvy3 pvy3 real
pvy4 pvy4 real
rby1 rby1 real
rby2 rby2 real
rby3 rby3 real
rcy1 rcy1 real
rey1 rey1 real
rey2 rey2 real
rhy1 rhy1 real
rhy2 rhy2 real
rvy1 rvy1 real
rvy2 rvy2 real
rvy3 rvy3 real
rvy4 rvy4 real
rvy5 rvy5 real
rvy6 rvy6 real
pty1 pty1 real
pty2 pty2 real
qbz1 qbz1 real
qbz2 qbz2 real
qbz3 qbz3 real
qbz4 qbz4 real
qbz5 qbz5 real
qbz9 qbz9 real
qbz10 qbz10 real
qcz1 qcz1 real
qdz1 qdz1 real
qdz2 qdz2 real
qdz3 qdz3 real
qdz4 qdz4 real
qdz6 qdz6 real
qdz7 qdz7 real
qdz8 qdz8 real
qdz9 qdz9 real
qez1 qez1 real
qez2 qez2 real
qez3 qez3 real
qez4 qez4 real
qez5 qez5 real
qhz1 qhz1 real
qhz2 qhz2 real
qhz3 qhz3 real
qhz4 qhz4 real
ssz1 ssz1 real
ssz2 ssz2 real
ssz3 ssz3 real
ssz4 ssz4 real
qtz1 qtz1 real
mbelt mbelt real
qsy1 qsy1 real
qsy2 qsy2 real
qsy3 qsy3 real
qsy4 qsy4 real
vref vref real
qsx1 qsx1 real
qsx2 qsx2 real
qsx3 qsx3 real

PacejkaSurfaceData

Source: PacejkaVTIModel
Surface Definition

Name Description Type Attributes Unit
Name string
CorneringStiffnessScale real
PeakFrictionScale real
RollingResistanceScale real

OpenALSystem

Source: OpenALSystem
OpenAL

Name Description Type Attributes Unit
MasterVolume System wide volume, which scales every sound in the application. float32
Last Position Last position of the listener vector3 ReadOnly Nonserializable m
ListenerForward Forward Vector of Listener vector3 ReadOnly Nonserializable
ListenerUp Up Vector of Listener vector3 ReadOnly Nonserializable

SoundObject

Source: OpenAL Sound System
Sound Object

Name Description Type Attributes Unit
Last Position Last position of the sound. vector3 ReadOnly Nonserializable
OpenAL SourceId OpenAL Source ID uint32 ReadOnly Nonserializable
WorldObjectId Id of the associated world object id ReadOnly Nonserializable
Volume Volume float32 ReadOnly Nonserializable
PitchShift Pitch Shift float32 ReadOnly Nonserializable
SourceState OpenAL Source State int32 ReadOnly Nonserializable

PagedGeometryManager

Source: PagedGeometryPlugin
PagedGeometryManager

Name Description Type Attributes Unit
EnableRendering Enable Paged Geometry Rendering bool
EnableGrass bool
EnableBrush bool
EnableTrees bool
GrassDensity float32
HorizontalFlip bool
VerticalFlip bool
Up vector3
Right vector3
Offset vector3
GrassDrawDistance float32 m
GrassPageSize float32
TreePageSize float32

PagedGeometryGrassLayer

Source: PagedGeometryPlugin
PagedGeometryGrassLayer

Name Description Type Attributes Unit
Name Name of the vegetation we are associated with. string
MaterialName Name of the Ogre material to reference. string
ColorMap Name of the optional color map. string
MinSize Min Size in x and y dimensions per instance. vector3
MaxSize Max Size in x and y dimensions per instance. vector3
SwayDistribution Sway Distribution float32
SwayLength Sway Length float32
SwaySpeed Sway Speed float32
Density Density factor. float32
Render Technique uint32
Fade Technique uint32
Filter Technique uint32
EnableAnimation Allow Sway animations. bool
UseSurfaceNormal Use surface normals. bool
UseLODs Use LOD levels ( 3d representation must include an LOD level ) bool
IsDetail True if this is a small detail, which will only display around the user. bool

SkyXManager

Source: SkyXPlugin
SkyX Manager

Name Description Type Attributes Unit
EnableRendering Enable Sky Rendering bool
EnableStars Enable Star Field Rendering bool
EnableCloudLayer Enable Layer based clouds bool
EnableVolumetricClouds Enable volumetric clouds bool
EnableLightning Enable lightning in the volumetric clouds bool
EnableTerrainScattering Enable the scattering pass on terrain meshes. bool
LightWavelength Color for sky vector3
TimeScale Update rate in hours per time unit update float32
Current Time Current time float32
Sunrise Time Time of Sunrise float32
Sunset Time Time of Sunset float32
MoonPhase Moon Phase ( -1 to 1) float32
Rayleigh Rayleigh scattering factor float32
Mie Mie scattering factor float32
Exposure Exposure value float32
G G value float32
Sun Intensity Intensity for the sun. float32
NumSamples Number of samples to use in the shader. uint32
MoonHaloIntensity Moon halo intensity. float32
MoonHaloStrength Moon halo strength. float32
WindSpeed Wind Speed float32 m/s
WindDirection Wind Direction float32 rad
AmbientColor Ambient Color color
LightResponseSunLightPower float32
LightResponseSunBetaMultiplier float32
LightResponseAmbientColorMultiplier float32
LightResponseDistanceAttenuation float32
AmbientFactorConstant float32
AmbientFactorLinear float32
AmbientFactorQuadratic float32
AmbientFactorCubic float32
DistanceFallingFactor float32
DistanceFallingMaximum float32
Humidity Relative cloud coverage (0-1) float32
AverageCloudSize Average cloud size (0-1) float32
AutoUpdate bool
DelayedReponse bool
Height float32
Scale float32
VolumeticDisplacement Volumetric Displacement float32
HeightVolume float32
Color Lightning Color color
AverageApparitionTime Average time a strike will stay visible. float32
TimeMultiplier Time multiplier ( higher = more frequent ) float32
MinimumAmbient color
SunDiffuseMultiplier color
SunSpecularMultiplier color
SunAmbientMultiplier color
MoonColor color
MoonDiffuseMultiplier color
MoonSpecularMultiplier color
MoonAmbientMultiplier color
SunLightAngleThreshold float32

UniversalVTI

Source: UniversalVTIPlugin
UniversalVTI

Name Description Type Attributes Unit
DebugRendering Enable debug rendering bool
Grid Debug bool
EnableDirectedDisplacement bool
LongitudinalScale real
LateralScale real
GlobalSoilStiffnessScale real
GlobalSoilDampingScale real
MaxContactDepth Used to limit large sinkage responses real
MaxLayerDisplacement Maximum displacement per timestep. real
Enabled Friction Ellipse bool
FrictionEllipseLateralScale real
FrictionEllipseLongitudinalScale real
EnabledLowSlipPeakForce If low slip conditions use peak forces. bool
WheelSpinThreshold real
SkidSteerSlipScalar Adjusts ODE contact slip in skid steered vehicles. real
RollingResistance Rolling resistance scale for contact joints. real

SampleController

Source: SampleControllerFactory
A controller that generates input to guide controllables along a path of waypoints

Name Description Type Attributes Unit
DesiredSpeed Target speed for controlled vehicle. real m/s
DesiredYawRate Target yaw rate for the controlled vehicle. real rad/s
MeasuredSpeed Current speed for controlled vehicle. real ReadOnly m/s
MeasuredYawRate Current yaw rate for the controlled vehicle. real ReadOnly rad/s
CalculatedThrotte Calculated throttle results from PID controller. real ReadOnly
CalculatedSteering Calculated steering results from PID controller. real ReadOnly
ThrottleP Throttle PID controller P coefficient real
ThrottleI Throttle PID controller I coefficient real
ThrottleD Throttle PID controller D coefficient real
ThrottleIntegralState Throttle PID controller coefficient integral state. real ReadOnly
ThrottleDerivativeState Throttle PID controller coefficient derivative state. real ReadOnly
SteeringP Steering PID controller P coefficient real
SteeringI Steering PID controller I coefficient real
SteeringD Steering PID controller D coefficient real
SteeringIntegralState Steering PID controller coefficient integral state. real ReadOnly
SteeringDerivativeState Steering PID controller coefficient derivative state. real ReadOnly

PythonScripts

Source: Python Interpreter Plugin
Python2.7 Script Manager

Name Description Type Attributes Unit
ScriptAppUpdateTime real ReadOnly s
SimUpdateTime Time spent updating script's OnSimUpdate method. real ReadOnly s
RenderUpdateTime real ReadOnly s
NumberSimUpdates Number of scripts registered with an OnSimUpdate method. uint32 ReadOnly
AverageSimUpdateTime Average OnSimUpdate time per script. real ReadOnly s

PythonScript

Source: Python Interpreter Plugin
Python2.7 Script Component

Name Description Type Attributes Unit
ScriptFile Script file name. string
Data Script data. namevaluelist ReadOnly
LastError Last error reported on this script. string ReadOnly
CustomProperties Custom properties defined for this script. namevaluelist
State uint32

ODE Physics Manager

Source: Sim
ODEEngine

Name Description Type Attributes Unit
Enabled Enabled bool
Iterations Physics iterations per sim step. Increase to improve accuracy at the cost of higher CPU utilization. Typical range is 2-10. uint32
NumThread Number of threads allocated to solving dynamics. Set to 1 to disable multi-threaded processing of physics. This only takes effect at the start of the next run. With NumThread set to 0, ANVEL operates with all available threads minus two. Do not set this higher than the number of cores available in the system, or performance may suffer. uint32
ThreadStackSize Used to control memory allocation for threads in multi-threaded mode. Leave this at 0 for most usage. uint32
DebugEnabled If debug drawing is enabled bool Nonserializable
Gravity Gravity that will affect all objects. Defaults to typical Earth gravity, but can be adjusted for extraterrestrial simulation real m/s²
WorldCFM Constraint Force Mixing real Advanced
WorldERP Error Reduction Parameter real Advanced
LinearDamping LinearDamping real Advanced
AngularDamping AngularDamping real Advanced
ContactCorrectionVelocity Maximum velocity allowed when correcting object collision response. real Advanced
ContactSurfaceLayer allowed penetration depth before a collision occurs real Advanced m
DefaultSoftCFM Default Contact Soft CFM real Advanced
DefaultSoftERP Default Contact Soft ERP real Advanced
DefaultContactMu Default Contact Mu real Advanced
AutoSleepThreshold Linear velocity threshold for sleeping. real Advanced
AutoSleepAngularThreshold Angular velocity threshold for sleeping. real Advanced
Allow Auto Sleep Allow auto sleep. bool Advanced
StepType Simulation Step type, "quick" or the more accurate “world” simulation mode in ODE. uint32 Advanced
QuickStepSubIterations Quickstep sub-iterations. uint32 Advanced
QuickStepRelaxation Adjusts quickstep specific relaxation parameter. real Advanced
UseMergedContacts Use a merged contact instead of multiple. bool
EnableTrimeshDebug Create Trimesh Debug Geometry bool
MaximumContactsPerPair Maximum contacts to generate per pair of overlapping geometries uint32
ShowGeometry ShowGeometry bool
ShowForces ShowForces bool
ShowTorques ShowTorques bool
ShowBodies ShowBodies bool
ShowContacts ShowContacts bool
ShowVelocity ShowVelocity bool
ShowJoints ShowJoints bool
ForceScale ForceScale vector3
TorqueScale TorqueScale vector3
VelocityScale TorqueScale vector3
Collisions Collisions int32 ReadOnly Nonserializable
UpdateTime UpdateTime real ReadOnly Nonserializable ms
CollisionTime Time spent handling collisions real ReadOnly Nonserializable ms
StepTime RigidBody Update phase real ReadOnly Nonserializable ms
PostUpdateTime Post physics update phase duration. real ReadOnly Nonserializable ms
PreUpdateTime Pre physics Update phase real ReadOnly Nonserializable ms
VehicleUpdateTime Vehicle update phase real ReadOnly Nonserializable ms
VehiclePreUpdateTime Vehicle pre step duration real ReadOnly Nonserializable ms
MaxCollisions MaxCollisions int32 ReadOnly Nonserializable
Callbacks Callbacks uint64 ReadOnly Nonserializable
Geometries Number of Geometries in the ODE world. uint32 ReadOnly Nonserializable
RandomSeed ODE internal random seed. uint32 ReadOnly Advanced
RaysCast The number of rays cast float32 ReadOnly Advanced Nonserializable
ObjectsRaytested The number of total objects that were checked against rays float32 ReadOnly Advanced Nonserializable

ODE Physical Object

Source: ODEEngine
ODEPhysicsObject

Name Description Type Attributes Unit
PhysicsID Physics object unique ID. ReadOnly Nonserializable
Type Type of physics object. ReadOnly
Enabled Whether this object is enabled for physics.
Mass Mass of the object. Must be greater than 0 for dynamic objects, or 0 for static objects. kg
Position Position of the object. m
Orientation Orientation of the object.
LinearVelocity Linear velocity of the object. ReadOnly m/s
AngularVelocity Angular velocity of the object. ReadOnly rad/s
LinearAcceleration Linear acceleration of the object. ReadOnly m/s²
AngularAcceleration Angular acceleration of the object. ReadOnly rad/s²
Force Total Force. ReadOnly Advanced N
Torque Total Torque. ReadOnly Advanced Nm
GravityEnabled Whether this object is affected by gravity.
AABBCenter Center of the object's AABB. ReadOnly Advanced
AABBExtents Extents of the object's AABB. ReadOnly Advanced
LinearDamping Linear Damping Factor. Advanced
AngularDamping Angular Damping Factor. Advanced
AllowSleep Allow auto sleep. Advanced
SleepVelThresh Linear velocity threshold for auto sleep. Advanced m/s
SleepAngVelThresh Angular velocity threshold for auto sleep. Advanced rad/s
Surface Surface Type.
Constant Force N
Constant Torque Nm

ODE Wheel

Source: VehicleManager
ODEWheel

Name Description Type Attributes Unit
Name Wheel's name. ReadOnly
Radius Wheel's radius. m
Width Wheel width. m
Tire Tire Definition Name
Position World Position m
Orientation World Orientation
Scale Scale
Visible Visible
Spring Suspension Spring N/m
Damping Suspension Damping Ns/m
DampingCurve Suspension DampingCurve
TireStiffnessCurve TireStiffness
ConstantTireStiffness Default tire stiffness if no curve is provided. Set to 0 to utilize VTI defaults. N/m
TireDamping Tire damping coefficient. Ns/m
ActualSpringStiffness Spring value used last update ReadOnly Nonserializable
ActualDamping Damping value used last updated ReadOnly Nonserializable
ActualTireStiffness Tire stiffness value used. ReadOnly Nonserializable
ActualTireDamping Tire stiffness value used. ReadOnly Nonserializable
MaxSuspensionTravel Maximum distance the wheel can travel toward the chassis before further motion becomes strongly resisted. m
SuspensionTravel Travel ReadOnly m
SuspensionTravelRate Travel Rate ReadOnly m/s
Bouncyness Bouncyness Advanced
Friction Friction Advanced
LateralFrictionScale Lateral friction scale Advanced
ResistanceScale Wheel resistance scale Advanced
Force Dependent Slip Force Dependent Slip Advanced
Surface Surface Name ReadOnly Nonserializable
VTI Model VTI Model ReadOnly Nonserializable
Load Amount of weight/load carried by the wheel. ReadOnly Nonserializable N
Sinkage Sinkage ReadOnly Nonserializable m
Soil Entry Angle Soil Entry Angle ReadOnly Advanced Nonserializable rad
Soil Exit Angle Soil Exit Angle ReadOnly Advanced Nonserializable rad
Logging Level Intersector Logging Level Advanced
Rays Cast Rays Cast ReadOnly Nonserializable
Distance Rotated Total distance rotated. ReadOnly rad
Joint Rotation Joint's rotation from original orientation. ReadOnly Nonserializable
Joint Acceleration Joint Acceleration. ReadOnly Nonserializable rad/s²
On Ground Whether the wheel is touching the ground. ReadOnly Nonserializable
NormalForce Force applied by ground to the wheel normal to the surface. ReadOnly Nonserializable N
ResistanceForce Force Applied in the opposite direction of travel. ReadOnly Nonserializable N
ResistanceTorque Torque Applied in the opposite direction of travel. ReadOnly Nonserializable Nm
AxleTorque AxleTorque. ReadOnly Nonserializable Nm
Applied Torque TorqueApplied. ReadOnly Nonserializable Nm
Total Applied Torque Total TorqueApplied. ReadOnly Nonserializable Nm
Slip Wheel Slip. ReadOnly Nonserializable
SAE Slip SAE Slip. ReadOnly Nonserializable
AverageSAESlip SAE Slip. ReadOnly Nonserializable
Slip Angle Wheel Slip Angle. ReadOnly Nonserializable
Slip Speed Slip Speed ReadOnly Nonserializable
Tire Deflection Tire Deflection ReadOnly Nonserializable m
Steering Angle Steering angle in degrees ReadOnly Nonserializable °
ResistanceTorques ReadOnly Nonserializable Nm
PositiveTorques ReadOnly Nonserializable Nm
GroundForceWorld Reaction Force from ground. ReadOnly Advanced Nonserializable
GroundForceLocal TorqueApplied. ReadOnly Advanced Nonserializable
GroundTorqueLocal TorqueApplied. ReadOnly Advanced Nonserializable
VTIForce Force from VTI. ReadOnly Advanced Nonserializable
VTITorque Torque from VTI. ReadOnly Advanced Nonserializable
WhlOrient Wheel Orientation ReadOnly Advanced Nonserializable

ODE Track

Source: VehicleManager
ODETrack

Name Description Type Attributes Unit
Name Track's name. ReadOnly
DebugEnabled Control the visualization of track debug data.
Length Track's length.
Width Track width.
Thickness Track thickness.
ContactBuffer An additional distance at which point the track will be considered contacting with the ground.
Radius Front drive wheel radius.
Circumference Complete length around the track.
RaySegments How many rays to cast on the flat section of the track.
SoftCFM Constraint force mixing for Softness.
SoftERP Error reduction parameter for Softness.
Spring Track Spring Constant.
Damping Track Damping Constant.
Position World Position ReadOnly
Orientation World Orientation ReadOnly
Scale Scale ReadOnly
ContactArea Contact area of the tread. ReadOnly
Surface Surface Name ReadOnly
Load Amount of weight/load carried by the Track. ReadOnly
Joint Rotation Joint's rotation from original orientation. ReadOnly
Joint Acceleration Joint Acceleration. ReadOnly
On Ground Whether the Track is touching the ground. ReadOnly
NormalForce Force applied by ground to the Track normal to the surface. ReadOnly
ResistanceForce Force Applied in the opposite direction of travel. ReadOnly
AxleTorque AxleTorque. ReadOnly
Applied Torque TorqueApplied. ReadOnly
Total Applied Torque Total TorqueApplied. ReadOnly
Slip Track Slip. ReadOnly
SAE Slip SAE Slip. ReadOnly
Slip Angle Track Slip Angle. ReadOnly
Slip Speed Slip Speed ReadOnly
VTIForce Force from VTI. ReadOnly Advanced
VTITorque Torque from VTI. ReadOnly Advanced
TrackOrient Track Orientation ReadOnly Advanced

Servo

Source: ODEEngine
Servo

Name Description Type Attributes Unit
Name Name ReadOnly
Power Power ReadOnly w
MaxRate MaxRate
Torque Torque Nm
LastValue Last Value
DesiredPos Desired Position
CorrectingForceScale Correcting Force Scale
P PID Controller P coefficient
I PID Controller I coefficient
D PID Controller D coefficient
MinIntegralState Min PID I state
MaxIntegralState Max PID I state

LinearServo

Source: ODEEngine
LinearServo

Name Description Type Attributes Unit
Name Name ReadOnly
MinLength Minimum Length m
MaxLength Maximum Length m
Offset Length Offset m
Length Current Length ReadOnly m
UsePositionControl Control the position instead of the applied torque

AngularServo

Source: ODEEngine
AngularServo

Name Description Type Attributes Unit
Name Name ReadOnly
MinAngle Minimum Angle in Radians rad
MaxAngle Maximum Angle in Radians rad
AngleOffset Offset Angle in Radians rad
Theta Theta ReadOnly
CurrentAngle Current Angle in Radians ReadOnly rad
IsContinuous If the servo can rotate without limits.
IsPowered If the servo is powered.

LeverArmServo

Source: ODEEngine
LeverArmServo

Name Description Type Attributes Unit
Name Name ReadOnly
Theta Theta Angle in Radians
MinTheta Theta Angle in Radians
MaxTheta Theta Angle in Radians
Offset Theta Angle in Radians
ForceCurveH ForceCurveH
ForceCurveM ForceCurveM
ForceCurveDampening ForceCurve Dampening Value
A A
B B
C C
Xs
Ys
Xc
Yc
R
Ra
Ds
Alpha
L
Lmin
Lmax
Stroke

SymmetricDualLinearServo

Source: ODEEngine
SymmetricDualLinearServo

Name Description Type Attributes Unit
Name ReadOnly
MinLength Minimum Length m
MaxLength Maximum Length m
Length1 Current Length ReadOnly m
Length2 Current Length ReadOnly m
DesiredPos1 Desired Length ReadOnly m
DesiredPos2 Desired Length ReadOnly m
ERP Vibration reduction.
TorqueDivision Torque Division between bodies ReadOnly
UsePositionControl Control the position instead of the applied torque.

SymmetricDualAngularServo

Source: ODEEngine
SymmetricDualAngularServo

Name Description Type Attributes Unit
Name Name ReadOnly
MinAngle Minimum Angle m
MaxAngle Maximum Angle m
Angle1 Current Angle ReadOnly m
Angle2 Current Angle ReadOnly m
DesiredPos1 Desired Angle ReadOnly m
DesiredPos2 Desired Angle ReadOnly m
ERP Vibration reduction.
TorqueDivision Torque Division between bodies ReadOnly
UsePositionControl Control the position instead of the applied torque.

PhysicsDefinition

Source: ODEPhysics
ODE Physics Object Definition

Name Description Type Attributes Unit
Type Type of Physics Object uint32 ReadOnly

ColliderDefinition

Source: ODEPhysics
ODE Collider Definition

Name Description Type Attributes Unit
Position Position of collision geometry vector3
Orientation Orientation of collision geometry quaternion
Scale Scale vector3
Surface Surface string
ShapeType Shape type (Box, Sphere, Cylinder, TriangleMesh) int32
Size For use with Box types. vector3 m
Radius For use with Sphere and Cylinder types real m
Length For use with Cylinder types real m
MeshFile For use with TriMesh types string
IsTerrain Behaves as terrain bool
IsValid True if valid bool

RigidBodyDefinition

Source: ODEPhysics
ODE Rigid Body Definition

Name Description Type Attributes Unit
LinearDamping real
AngularDamping real
AutoDisableLinearThreshold real rad/s
AutoDisableAngularThreshold real m/s
AutoDisableStepCount uint32
AutoDisableTime real s
MaxAngularSpeed real rad/s
FiniteRotationAxis vector3
MassMatrix1 vector3
MassMatrix2 vector3
MassMatrix3 vector3
Mass real kg
AutoDisable bool
EnableFiniteRotationMode bool
EnableGyroscopicMode bool

VideoRecording

Source: VideoCaptureManager
Video Recording Manager

Name Description Type Attributes Unit
EncodingTool Executable to use for video encoding. string
DefaultRtpUrl RTP URL used by default. string
DefaultRtmpUrl RTMP URL used by default. string

VideoRecordingInstance

Source: VideoRecordingManager
VideoRecordingInstance

Name Description Type Attributes Unit
Video File string ReadOnly
SDP File string ReadOnly
Total CPU Time Total CPU Time id ReadOnly

AnvelUserConfiguration

Source: ANVEL
Stores user specific configuration data.

Name Description Type Attributes Unit
Config namevaluelist

WeatherRenderer

Source: WeatherRenderer
Rendering system for weather, using the particle system and the weather simulated properties

Name Description Type Attributes Unit
Weather Range The distance from the camera that the weather is rendered real m
Weather Fidelity The length of a weather block that is used to render some of the weather around each camera. real ReadOnly m
Current Precipitation The type of precipitation currently being rendered uint32 ReadOnly

WeatherRendererPrecipitation

Source: WeatherRenderer
Set of properties tied to different forms of precipitation, controlling how they are rendered

Name Description Type Attributes Unit
Name string
Fall Velocity The _/s at which particles fall real
Light Precipitation Threshold The 'magnitude' of precipitation BELOW which we render light precipitation. 0 means only use normal precipitation. real Advanced
Light Precipitation Intensity A multiplier applied to the number of particles spawned per second in LIGHT precipitation real Advanced
Heavy Precipitation Intensity A multiplier applied to the number of particles spawned per second in HEAVY precipitation real Advanced
Light Precipitation Material The material used for light precipitation. string Advanced
Heavy Precipitation Material The material used for heavy precipitation. string Advanced
Precipitation Audio File The audio file associated with precipitation type. string