BulletSurfaceParams.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 
18 #ifndef _GAZEBO_BULLETSURFACEPARAMS_HH_
19 #define _GAZEBO_BULLETSURFACEPARAMS_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gazebo/msgs/msgs.hh"
25 #include "gazebo/util/system.hh"
26 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class GZ_PHYSICS_VISIBLE BulletSurfaceParams : public SurfaceParams
36  {
38  public: BulletSurfaceParams();
39 
41  public: virtual ~BulletSurfaceParams();
42 
45  public: virtual void Load(sdf::ElementPtr _sdf);
46 
47  // Documentation inherited.
48  public: virtual void FillMsg(msgs::Surface &_msg);
49 
50  // Documentation inherited.
51  public: virtual void ProcessMsg(const msgs::Surface &_msg);
52 
53  // Documentation inherited.
54  public: virtual FrictionPyramidPtr FrictionPyramid() const;
55 
57  // For further documentation, see:
58  // github.com/erwincoumans/bullet3/blob/master/src/BulletDynamics
59  // /ConstraintSolver/btSequentialImpulseConstraintSolver.cpp#L910
60  private: FrictionPyramidPtr frictionPyramid;
61  };
63  }
64 }
65 #endif
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:166
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
Forward declarations for the common classes.
Definition: Animation.hh:26
Bullet surface parameters.
Definition: BulletSurfaceParams.hh:35
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:167