##

SurfaceParams Class Reference
Physics

SurfaceParams defines various Surface contact parameters. These parameters defines the properties of a physics::Contact constraint. More...

`#include <physics/physics.hh>`

Inherited by BulletSurfaceParams, DARTSurfaceParams, and ODESurfaceParams.

## Public Member Functions

| SurfaceParams ()
| Constructor. More...
virtual | ~SurfaceParams ()
| Destructor. More...
virtual void | FillMsg (msgs::Surface &_msg)
| Fill in a surface message. More...
virtual FrictionPyramidPtr | FrictionPyramid () const
| Get access to FrictionPyramid data, if available. More...
virtual void | Load (sdf::ElementPtr _sdf)
| Load the contact params. More...
virtual void | ProcessMsg (const msgs::Surface &_msg)
| Process a surface message. More...

## Public Attributes

unsigned int | collideBitmask
| Custom collision filtering. More...
bool | collideWithoutContact
| Allow collision checking without generating a contact joint. More...
unsigned int | collideWithoutContactBitmask
| Custom collision filtering used when collideWithoutContact is true. More...

## Detailed Description

SurfaceParams defines various Surface contact parameters. These parameters defines the properties of a physics::Contact constraint.

## Constructor & Destructor Documentation

## SurfaceParams()

SurfaceParams | ( |  | ) |

Constructor.

## ~SurfaceParams()

virtual ~SurfaceParams | ( |  | ) |

virtual

Destructor.

## Member Function Documentation

## FillMsg()

virtual void FillMsg | ( | msgs::Surface & | _msg | ) |

virtual

Fill in a surface message.

Parameters

  [in] | _msg | Message to fill with this object's values.

Reimplemented in DARTSurfaceParams, BulletSurfaceParams, and ODESurfaceParams.

## FrictionPyramid()

virtual FrictionPyramidPtr FrictionPyramid | ( |  | ) | const

virtual

Get access to FrictionPyramid data, if available.

Returns
  Pointer to FrictionPyramid data or NULL if class does not use FrictionPyramid data.

Reimplemented in DARTSurfaceParams, BulletSurfaceParams, and ODESurfaceParams.

## Load()

virtual void Load | ( | sdf::ElementPtr | _sdf | ) |

virtual

Load the contact params.

Parameters

  [in] | _sdf | SDF values to load from.

Reimplemented in DARTSurfaceParams, BulletSurfaceParams, and ODESurfaceParams.

## ProcessMsg()

virtual void ProcessMsg | ( | const msgs::Surface & | _msg | ) |

virtual

Process a surface message.

Parameters

  [in] | _msg | Message to read values from.

Reimplemented in DARTSurfaceParams, BulletSurfaceParams, and ODESurfaceParams.

## Member Data Documentation

## collideBitmask

unsigned int collideBitmask

Custom collision filtering.

Will override collideWithoutContact.

## collideWithoutContact

bool collideWithoutContact

Allow collision checking without generating a contact joint.

## collideWithoutContactBitmask

unsigned int collideWithoutContactBitmask

Custom collision filtering used when collideWithoutContact is true.

The documentation for this class was generated from the following file:

- SurfaceParams.hh