63 lines
1.8 KiB
Protocol Buffer
63 lines
1.8 KiB
Protocol Buffer
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syntax = "proto2";
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package gazebo.msgs;
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/// \ingroup gazebo_msgs
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/// \interface Friction
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/// \brief Information about friction
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import "vector3d.proto";
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message Friction
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{
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message Torsional
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{
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message ODE
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{
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/// \brief Force dependent slip for torsional friction, between the range
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/// of [0..1].
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optional double slip = 1;
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}
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/// \brief Torsional coefficient of friction in the range of [0..1].
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optional double coefficient = 1;
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/// \brief By default, torsional friction is calculated using the
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/// "patch_radius", which is sqrt(R*d), where "R" is the radius of the
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/// collision at the contact point (surface_radius) and "d" is the contact
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/// depth. If this flag is set to false, surface_radius and contact depth
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/// will be used instead of patch radius.
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optional bool use_patch_radius = 2;
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/// \brief Radius of contact patch surface, used for torsional friction.
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optional double patch_radius = 3;
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/// \brief Surface radius on the point of contact, used for torsional
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/// friction.
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optional double surface_radius = 4;
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/// \brief Torsional friction information exclusive to ODE physics engine.
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optional ODE ode = 5;
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}
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/// \brief Coefficient of friction in the range of [0..1].
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optional double mu = 1;
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/// \brief Second coefficient of friction in the range of [0..1].
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optional double mu2 = 2;
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/// \brief Direction of mu1 in the collision local reference frame.
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optional Vector3d fdir1 = 3;
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/// \brief Force dependent slip direction 1 in collision local frame, between
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/// the range of [0..1].
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optional double slip1 = 4;
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/// \brief Force dependent slip direction 2 in collision local frame, between
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/// the range of [0..1].
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optional double slip2 = 5;
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/// \brief Torsional friction.
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optional Torsional torsional = 6;
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}
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