• updatePeriod 0.1
    • Time interval between frames (sec)

  • saveFrames NULL
    • If non-null, frames will be written to the specified directory (good for making movies).

  • polygonMode "fill"
    • Rendering mode; valid values are "fill", "line" and "point".

  • shadeModel "smooth"
    • Shading method; "smooth" or "flat".

  • displayAxes false
    • Display body axes for each body (useful for debugging).

  • displayCoM false
    • Display center of mass for each body (useful for debugging).

  • displayRays false
    • Display sensor rays (useful for debugging).