Some optional features (such as foot locking and leaning) require access to the state of the agents on the previous frame. As a result, an embedded DOP network is used to implement the terrain adaptation. If this parameter is disabled, those features will also be disabled and the SOP will not require simulation. This can be useful for quickly producing a rough preview of the final terrain adaptation results.

When turned on, prevents the ankle and toe from sliding when the foot should be planted. The channels specified on the Agent Prep SOP are used to determine when the foot should be planted during the animation clip, as well as how to blend out of the locked position. This option also improves terrain adaptation for situations where the unadjusted foot position is above the terrain, since the solver can distinguish between when the foot should be planted and when the foot is actually supposed to be above the ground. This option may still be used if no terrain object is specified.

The optional agentterrainadaptation_footdown float array point attribute can be used to override the foot down values computed from the agent’s animation clips. The attribute is expected to contain a replacement foot down value for each entry in the agentrig_footchannels point attribute. This may be useful when applying terrain adaptation to cached agents.

When turned on, adjusts the position of the hips to ensure that the legs are not over-stretched when planting the feet on uneven terrain. This parameter is available when Enable Foot Locking is turned on.

When Adjust Hips is turned on, this specifies an additional offset to shift the hips up or down.

When turned on, specifies how much the hips can be shifted by in a single frame. This can reduce sudden hip motion on uneven terrain. This parameter is available when Adjust Hips is turned on.

When the distance from the upper leg to the target ankle position is greater than this percentage of the maximum leg length, the knee angle is damped so that it smoothly approaches a 180 degree angle as the target ankle position is extended. This can prevent the knee from popping when the leg is almost fully extended.

When turned on, projects the agent particles on the given terrain.

The direction of the terrain projection.

When Mode is set to Direction Vector, this is the direction of the terrain projection.

Specifies whether to cast a single ray from the agent’s point (Particle), or cast a ray from each of the agent’s legs (Foot).

When Sampling Method is set to Foot, projects the foot positions onto the plane defined by the agent’s position and the Direction vector before casting rays. This produces results that are consistent with the Particle sampling method if the agent is on flat terrain. If this option is turned off, the agent is lowered by the average distance of each foot from the terrain.

An additional offset that shifts all the agents up or down.

When turned on, adjusts the agents' legs to conform to the terrain.

When navigating uneven terrain, the agent can lean forward or backward. When turned on, this parameter specifies the maximum angle (in degrees) that the agent can tilt in a single frame. This parameter is available when Enable Terrain Adaptation is turned on.

When Enable Terrain Adaptation is turned on, this is how far (in degrees) the agent can lean backward.

When Enable Terrain Adaptation is turned on, this is how far (in degrees) the agent can lean forward.

Updates the up vector to match the terrain normal. This requires that Enable Terrain Projection is enabled. This may be useful for situations such as insects crawling on walls.

The agent’s axis, aligned to follow the velocity vector. For example, setting this to 1,0,0 will align the agent’s X-axis with its velocity.

The original up vector of the agent. This parameter is used with Reference Direction when updating the agent’s orientation.

When turned on, displays guide geometry indicating the positions of the lower limb joints and whether the feet are locked.

When Show Guide Geometry is turned on, this is the size of the guide geometry.

When Show Guide Geometry is turned on, this is the Scale to indicate when the foot is locked.

When Show Guide Geometry is turned on, this is the color of the guide geometry. When Enable Foot Locking is turned on, the color ramp indicates when the ankle and toe joints are locked or blending out of the locked position.

Clears the entire simulation cache.

The number of substeps the DOP simulation should perform each frame.

The frame at which the simulation starts cooking.

A scale factor that relates global time to the simulation time for the DOP network.