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BulletSurfaceParams.hh
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/*
* Copyright (C) 2012 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef _GAZEBO_BULLETSURFACEPARAMS_HH_
#define _GAZEBO_BULLETSURFACEPARAMS_HH_
#include <sdf/sdf.hh>
#include "gazebo/msgs/msgs.hh"
#include "gazebo/physics/SurfaceParams.hh"
#include "gazebo/util/system.hh"
namespace gazebo
{
namespace physics
{
class GZ_PHYSICS_VISIBLE BulletSurfaceParams : public SurfaceParams
{
public: BulletSurfaceParams();
public: virtual ~BulletSurfaceParams();
public: virtual void Load(sdf::ElementPtr _sdf);
// Documentation inherited.
public: virtual void FillMsg(msgs::Surface &_msg);
// Documentation inherited.
public: virtual void ProcessMsg(const msgs::Surface &_msg);
// Documentation inherited.
public: virtual FrictionPyramidPtr FrictionPyramid() const;
// For further documentation, see:
// github.com/erwincoumans/bullet3/blob/master/src/BulletDynamics
// /ConstraintSolver/btSequentialImpulseConstraintSolver.cpp#L910
private: FrictionPyramidPtr frictionPyramid;
};
}
}
#endif
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::physics::FrictionPyramid
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
system.hh
msgs.hh
gazebo::physics::BulletSurfaceParams::FillMsg
virtual void FillMsg(msgs::Surface &_msg)
Fill in a surface message.
gazebo::physics::SurfaceParams
SurfaceParams defines various Surface contact parameters. These parameters defines the properties of ...
Definition: SurfaceParams.hh:167
SurfaceParams.hh
gazebo::physics::BulletSurfaceParams::Load
virtual void Load(sdf::ElementPtr _sdf)
Load the contact params.
gazebo::physics::BulletSurfaceParams::BulletSurfaceParams
BulletSurfaceParams()
Constructor.
gazebo::physics::BulletSurfaceParams
Bullet surface parameters.
Definition: BulletSurfaceParams.hh:35
gazebo::physics::BulletSurfaceParams::FrictionPyramid
virtual FrictionPyramidPtr FrictionPyramid() const
Get access to FrictionPyramid data, if available.
gazebo::physics::FrictionPyramidPtr
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:165
gazebo::physics::BulletSurfaceParams::ProcessMsg
virtual void ProcessMsg(const msgs::Surface &_msg)
Process a surface message.
gazebo::physics::BulletSurfaceParams::~BulletSurfaceParams
virtual ~BulletSurfaceParams()
Destructor.