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ODESurfaceParams Class Reference
Physics » ODE Physics

ODE surface parameters. More...

`#include <ODESurfaceParams.hh>`

Inherits SurfaceParams.

## Public Member Functions

| ODESurfaceParams ()
| Constructor. More...
virtual | ~ODESurfaceParams ()
| 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

double | bounce
| bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic. More...
double | bounceThreshold
| minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision. More...
double | cfm
| Constraint Force Mixing parameter. More...
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...
double | erp
| Error Reduction Parameter. More...
double | kd
| spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp. More...
double | kp
| spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp. More...
double | maxVel
| Maximum interpenetration error correction velocity. More...
double | minDepth
| Minimum depth before ERP takes effect. More...
double | slip1
| Artificial contact slip in the primary friction direction. More...
double | slip2
| Artificial contact slip in the secondary friction dirction. More...
double | slipTorsion
| Artificial contact slip in torsional dirction. More...

## Detailed Description

ODE surface parameters.

## Constructor & Destructor Documentation

## ODESurfaceParams()

ODESurfaceParams | ( |  | ) |

Constructor.

## ~ODESurfaceParams()

virtual ~ODESurfaceParams | ( |  | ) |

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 from SurfaceParams.

## 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 from SurfaceParams.

## Load()

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

virtual

Load the contact params.

Parameters

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

Reimplemented from SurfaceParams.

## ProcessMsg()

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

virtual

Process a surface message.

Parameters

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

Reimplemented from SurfaceParams.

## Member Data Documentation

## bounce

double bounce

bounce restitution coefficient [0,1], with 0 being inelastic, and 1 being perfectly elastic.

See also
  http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

## bounceThreshold

double bounceThreshold

minimum contact velocity for bounce to take effect, otherwise the collision is treated as an inelastic collision.

See also
  http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

## cfm

double cfm

Constraint Force Mixing parameter.

See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.

## collideBitmask

unsigned int collideBitmask

inherited

Custom collision filtering.

Will override collideWithoutContact.

## collideWithoutContact

bool collideWithoutContact

inherited

Allow collision checking without generating a contact joint.

## collideWithoutContactBitmask

unsigned int collideWithoutContactBitmask

inherited

Custom collision filtering used when collideWithoutContact is true.

## erp

double erp

Error Reduction Parameter.

See also
  See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_0 for more details.

## kd

double kd

spring damping constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.

See also
  See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_2 for more details.

## kp

double kp

spring constant equivalents of a contact as a function of SurfaceParams::cfm and SurfaceParams::erp.

See also
  See for example http://www.ode.org/ode-latest-userguide.html#sec_3_8_2 for more details.

## maxVel

double maxVel

Maximum interpenetration error correction velocity.

If set to 0, two objects interpenetrating each other will not be pushed apart.

See also
  See dWroldSetContactMaxCorrectingVel (http://www.ode.org/ode-latest-userguide.html#sec_5_2_0)

## minDepth

double minDepth

Minimum depth before ERP takes effect.

See also
  See dWorldSetContactSurfaceLayer (http://www.ode.org/ode-latest-userguide.html#sec_5_2_0)

## slip1

double slip1

Artificial contact slip in the primary friction direction.

See also
  See dContactSlip1 in http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

## slip2

double slip2

Artificial contact slip in the secondary friction dirction.

See also
  See dContactSlip2 in http://www.ode.org/ode-latest-userguide.html#sec_7_3_7

## slipTorsion

double slipTorsion

Artificial contact slip in torsional dirction.

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

- ODESurfaceParams.hh