BulletSurfaceParams.hh
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1 /*
2  * Copyright (C) 2012-2016 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.
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17 
18 #ifndef _GAZEBO_BULLETSURFACEPARAMS_HH_
19 #define _GAZEBO_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 
54  // Documentation inherited.
55  public: virtual FrictionPyramidPtr GetFrictionPyramid() const
56  GAZEBO_DEPRECATED(7.0);
57 
58  // Documentation inherited.
59  public: virtual FrictionPyramidPtr FrictionPyramid() const;
60 
62  // For further documentation, see:
63  // github.com/erwincoumans/bullet3/blob/master/src/BulletDynamics
64  // /ConstraintSolver/btSequentialImpulseConstraintSolver.cpp#L910
65  private: FrictionPyramidPtr frictionPyramid;
66  };
68  }
69 }
70 #endif
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
Bullet surface parameters.
Definition: BulletSurfaceParams.hh:36
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:48
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:177
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:156