BulletSurfaceParams.hh
Go to the documentation of this file.
1 /*
2  * Copyright (C) 2012-2015 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 _BULLETSURFACEPARAMS_HH_
19 #define _BULLETSURFACEPARAMS_HH_
20 
21 #include <sdf/sdf.hh>
22 
23 #include "gazebo/math/Vector3.hh"
24 #include "gazebo/msgs/msgs.hh"
26 #include "gazebo/util/system.hh"
27 
28 namespace gazebo
29 {
30  namespace physics
31  {
34 
37  {
39  public: BulletSurfaceParams();
40 
42  public: virtual ~BulletSurfaceParams();
43 
46  public: virtual void Load(sdf::ElementPtr _sdf);
47 
48  // Documentation inherited.
49  public: virtual void FillMsg(msgs::Surface &_msg);
50 
51  // Documentation inherited.
52  public: virtual void ProcessMsg(const msgs::Surface &_msg);
53 
55  // For further documentation, see:
56  // github.com/erwincoumans/bullet3/blob/master/src/BulletDynamics
57  // /ConstraintSolver/btSequentialImpulseConstraintSolver.cpp#L910
59  };
61  }
62 }
63 #endif
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:35
FrictionPyramid frictionPyramid
Friction pyramid parameters (mu1, mu2).
Definition: BulletSurfaceParams.hh:58
Bullet surface parameters.
Definition: BulletSurfaceParams.hh:36
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:93
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48