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Workspace settings

The workspace setting can be accessed by pressing the rightmost gear icon in the toolbar.

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This brings up the following panel. There are 4 different tabs (Server, Scene, Gateway and Logs), the settings for each tab are explained below.

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Server settings

In this tab, all settings related to the current server can be configured.

Server Version

Displays the version of the connected server.

Domain Name

Displays the domain name of the server.

Remaining Time

Displays how much time is left before the server shuts down (online servers only).

Connection Status

The status is 'Connected' when the app is able to communicate with the server.

Participants

A list of all users currently logged in on the server, the invite button enables to invite other members of the organization to the workspace.

DebugDrawPhysics Interval

This setting specifies how frequently the collision visualization is updated when the function is active.

Emulation fps

Displays the update frequency of the physics engine.

Physics Load (%)

Displays how many percent of the emulation step (see description below) that the physics engine requires for each step.

Physics Steps

Displays how long time an emulation step takes to execute. It is important that the physics step is lower than the integration time, otherwisa real-time emulation is not possible.

Physics clock

Displays how long the emulation has been running. It's the same as the server time shown in the toolbar, but with higher resolution.

Node count

Displays how many nodes are currently loaded in the workspace.

Gateway Info

Displays, if the gatweay is connected and the emulation is running, how many drivers are connected and how hard the gateway is loaded.

Constraint iterations

Defines the additional step iterations to carry out on constraint to increase stability.

Debug Constraints

Display physics engine joints and constraints.

Debug Contact Points

Display physics engine contact points. The contact points are visualized as yellow lines to show where collision geometries are touching.

Emulation step

Default is 0.005 seconds. Integration step time used by the psysics engine, recommended value between 0.01-0.001.

Gateway interval

Server communication interval in seconds to send UPDATE to the gateway.

Global cfm

If CFM is set to zero (which is the default value), the constraint will be hard. If CFM is set to a positive value, it will be possible to violate the constraint by "pushing on it" (for example, for contact constraints by forcing the two contacting objects together). In other words the constraint will be soft, and the softness will increase as CFM increases. What is actually happening here is that the constraint is allowed to be violated by an amount proportional to CFM times the restoring force that is needed to enforce the constraint. Note that setting CFM to a negative value can have undesirable bad effects, such as instability. Don't do it.

Global erp

The ERP specifies what proportion of the joint error will be fixed during the next simulation step. If ERP=0 then no correcting force is applied and the bodies will eventually drift apart as the simulation proceeds. If ERP=1 then the simulation will attempt to fix all joint error during the next time step. However, setting ERP=1 is not recommended, as the joint error will not be completely fixed due to various internal approximations. A value of ERP=0.1 to 0.8 is recommended (0.2 is the default).

Resolution

Float point resolution for values coming from the physics engine. Value betweem 3-6. Default 3 (1 mm resolution).

Time relation

Time relation coeficient between emulation time and real time, valie between 0.1-2.0.

Scene settings

In this tab, all settings related to the scene can be configured.

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Shadows

Determines whether shadows are drawn or not. Having shadows active can have a big impact on performance. It is turned off by default.

Ambient Light

Toggles the ambient light on or off.

Color

Determines the color of the ambient light.

Intensity

Determines the intensity of the ambient light.

PointLight

Toggles the point light on or off.

Color

Determines the color of the point light

Intensity

Determines the intensity of the point light.

Position

Determines the position of the point light

Ground

Toggles the ground plane on or off.

Size

Length of the ground planes sides in metres.

Divisions

Determines how many squares are distributed along each side of the ground plane. If this value is equal to the ground size parameter, every square will be one square metre.

Color

Determines the color of the ground plane.

Gateway

In this tab, all settings related to the gateway can be configured.

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Version

Displays the version of the installed gateway.

Status

Displays the address and connection state of the gateway.

Gateway URL

Sets the URL of the gateway.

Logs

This tab displays log messages sent from the server. Black text is used for INFO messages, while red text is used for ERROR messages. Errors from behavior scripts in components will show up in red text here.

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Clear

This button clears all messages from the log.