SurfaceParams Class Reference

SurfaceParams defines various Surface contact parameters. 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()

Constructor.

◆ ~SurfaceParams()

virtual ~SurfaceParams ( )
virtual

Destructor.

Member Function Documentation

◆ FillMsg()

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

Fill in a surface message.

Parameters
[in]_msgMessage 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]_sdfSDF 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]_msgMessage 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: