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()

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.

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

• SurfaceParams.hh