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

Constructor.

virtual ~SurfaceParams ( )
virtual

Destructor.

Member Function Documentation

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.

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.

virtual void Load ( sdf::ElementPtr  _sdf)
virtual

Load the contact params.

Parameters
[in]_sdfSDF values to load from.

Reimplemented in DARTSurfaceParams, BulletSurfaceParams, and ODESurfaceParams.

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

unsigned int collideBitmask

Custom collision filtering.

Will override collideWithoutContact.

bool collideWithoutContact

Allow collision checking without generating a contact joint.

unsigned int collideWithoutContactBitmask

Custom collision filtering used when collideWithoutContact is true.


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