18 #ifndef _GAZEBO_SURFACEPARAMS_HH_
19 #define _GAZEBO_SURFACEPARAMS_HH_
56 public:
double MuPrimary()
const;
60 public:
double MuSecondary()
const;
64 public:
double MuTorsion()
const;
68 public:
double PatchRadius()
const;
72 public:
double SurfaceRadius()
const;
76 public:
bool UsePatchRadius()
const;
80 public:
void SetMuPrimary(
double _mu);
84 public:
void SetMuSecondary(
double _mu);
88 public:
void SetMuTorsion(
const double _mu);
92 public:
void SetPatchRadius(
const double _radius);
96 public:
void SetSurfaceRadius(
const double _radius);
100 public:
void SetUsePatchRadius(
const bool _use);
104 public:
double PoissonsRatio()
const;
108 public:
void SetPoissonsRatio(
const double _ratio);
112 public:
double ElasticModulus()
const;
116 public:
void SetElasticModulus(
const double _modulus);
123 private:
double Mu(
const unsigned int _index)
const;
131 private:
void SetMu(
unsigned int _index,
double _mu);
146 private:
double mu[3];
153 private:
double patchRadius;
158 private:
double surfaceRadius;
164 private:
bool usePatchRadius;
167 private:
double poissonsRatio;
170 private:
double elasticModulus;
187 public:
virtual void Load(sdf::ElementPtr _sdf);
191 public:
virtual void FillMsg(msgs::Surface &_msg);
195 public:
virtual void ProcessMsg(
const msgs::Surface &_msg);
#define GZ_PHYSICS_VISIBLE
Definition: system.hh:259
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
#define GAZEBO_DEPRECATED(version)
Definition: CommonTypes.hh:48
default namespace for gazebo
unsigned int collideWithoutContactBitmask
Custom collision filtering used when collideWithoutContact is true.
Definition: SurfaceParams.hh:214
unsigned int collideBitmask
Custom collision filtering.
Definition: SurfaceParams.hh:218
bool collideWithoutContact
Allow collision checking without generating a contact joint.
Definition: SurfaceParams.hh:210
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:177
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:156
math::Vector3 direction1
Vector for specifying the primary friction direction, relative to the parent collision frame...
Definition: SurfaceParams.hh:140