224 lines
8.3 KiB
C++
224 lines
8.3 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_SURFACEPARAMS_HH_
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#define _GAZEBO_SURFACEPARAMS_HH_
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#include <sdf/sdf.hh>
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/PhysicsTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace physics
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{
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/// \addtogroup gazebo_physics
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/// \{
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/// \class FrictionPyramid SurfaceParams.hh physics/physics.hh
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/// \brief Parameters used for friction pyramid model.
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class GZ_PHYSICS_VISIBLE FrictionPyramid
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{
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/// \brief Constructor.
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public: FrictionPyramid();
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/// \brief Destructor.
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public: virtual ~FrictionPyramid();
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/// \brief Get the friction coefficient in the primary direction.
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/// \return Friction coefficient in primary direction.
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/// \deprecated See const function MuPrimary
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public: double GetMuPrimary() GAZEBO_DEPRECATED(7.0);
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/// \brief Get the friction coefficient in the secondary direction.
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/// \return Friction coefficient in secondary direction.
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/// \deprecated See const function MuSecondary
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public: double GetMuSecondary() GAZEBO_DEPRECATED(7.0);
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/// \brief Get the friction coefficient in the primary direction.
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/// \return Friction coefficient in primary direction.
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public: double MuPrimary() const;
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/// \brief Get the friction coefficient in the secondary direction.
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/// \return Friction coefficient in secondary direction.
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public: double MuSecondary() const;
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/// \brief Get the torsional friction coefficient.
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/// \return Torsional friction coefficient.
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public: double MuTorsion() const;
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/// \brief Get the torsional patch radius.
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/// \return Torsional patch radius.
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public: double PatchRadius() const;
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/// \brief Get the torsional surface radius.
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/// \return Torsional surface radius.
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public: double SurfaceRadius() const;
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/// \brief Get the torsional "use patch radius" flag.
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/// \return Torsional "use patch radius" flag.
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public: bool UsePatchRadius() const;
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/// \brief Set the friction coefficient in the primary direction.
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/// \param[in] _mu Friction coefficient.
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public: void SetMuPrimary(double _mu);
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/// \brief Set the friction coefficient in the secondary direction.
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/// \param[in] _mu Friction coefficient.
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public: void SetMuSecondary(double _mu);
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/// \brief Set the torsional friction coefficient.
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/// \param[in] _mu Torsional friction coefficient.
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public: void SetMuTorsion(const double _mu);
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/// \brief Set the torsional patch radius.
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/// \param[in] _radius Torsional patch radius.
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public: void SetPatchRadius(const double _radius);
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/// \brief Set the torsional surface radius.
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/// \param[in] _radius Torsional surface radius.
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public: void SetSurfaceRadius(const double _radius);
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/// \brief Set whether to use the surface radius.
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/// \param[in] _use True to use the surface radius.
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public: void SetUsePatchRadius(const bool _use);
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/// \brief Get the Poisson's ratio
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/// \return Poisson's ratio
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public: double PoissonsRatio() const;
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/// \brief Set the Poisson's ratio
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/// \param[in] _ratio Poisson's ratio
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public: void SetPoissonsRatio(const double _ratio);
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/// \brief Get the elastic modulus
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/// \return elastic modulus
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public: double ElasticModulus() const;
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/// \brief Set the elastic modulus
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/// \param[in] _modulus elastic modulus to set to
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public: void SetElasticModulus(const double _modulus);
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/// \brief Get the friction coefficient in a single direction.
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/// \param[in] _index Index of friction direction, 0 for primary,
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/// 1 for secondary direction.
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/// \return Friction coefficient, or negative value if invalid
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/// _index is supplied.
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private: double Mu(const unsigned int _index) const;
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/// \brief Set the friction coefficient in a single direction.
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/// If a negative value is supplied, use an astronomically high
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/// value instead.
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/// \param[in] _index Index of friction direction, 0 for primary,
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/// 1 for secondary direction.
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/// \param[in] _mu Friction coefficient.
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private: void SetMu(unsigned int _index, double _mu);
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/// \brief Vector for specifying the primary friction direction,
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/// relative to the parent collision frame. The component of this
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/// vector that is orthogonal to the surface normal will be set
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/// as the primary friction direction.
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/// If undefined, a vector consstrained to be perpendicular
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/// to the contact normal in the global y-z plane is used.
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/// \sa http://www.ode.org/ode-latest-userguide.html#sec_7_3_7
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public: math::Vector3 direction1;
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/// \brief Array of dry friction coefficients. mu[0] is in the
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/// primary direction as defined by the friction pyramid.
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/// mu[1] is in the second direction.
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/// mu[2] is in the torsional direction.
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private: double mu[3];
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/// \brief Radius of the contact patch used to calculate torsional
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/// friction. The same patch is used by all contact points in this
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/// surface.
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/// The patch is equal to the square root of the surface radius times the
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/// contact depth: a = srqt(R * d).
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private: double patchRadius;
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/// \brief Radius of the surface to be used to calculate torsional
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/// friction. The same radius is used for all contacts points in this
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/// surface.
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private: double surfaceRadius;
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/// \brief Flag for choosing the method for computing the contact
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/// patch radius in torsional friction.
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/// True to use the constant patch radius parameter. False to use the
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/// surface radius together with contact depth.
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private: bool usePatchRadius;
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/// \brief Poisson's Ratio
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private: double poissonsRatio;
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/// \brief Elastic modulus.
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private: double elasticModulus;
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};
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/// \class SurfaceParams SurfaceParams.hh physics/physics.hh
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/// \brief SurfaceParams defines various Surface contact parameters.
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/// These parameters defines the properties of a
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/// physics::Contact constraint.
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class GZ_PHYSICS_VISIBLE SurfaceParams
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{
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/// \brief Constructor.
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public: SurfaceParams();
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/// \brief Destructor.
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public: virtual ~SurfaceParams();
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/// \brief Load the contact params.
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/// \param[in] _sdf SDF values to load from.
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public: virtual void Load(sdf::ElementPtr _sdf);
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/// \brief Fill in a surface message.
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/// \param[in] _msg Message to fill with this object's values.
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public: virtual void FillMsg(msgs::Surface &_msg);
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/// \brief Process a surface message.
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/// \param[in] _msg Message to read values from.
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public: virtual void ProcessMsg(const msgs::Surface &_msg);
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/// \brief Get access to FrictionPyramid data, if available.
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/// \return Pointer to FrictionPyramid data or NULL if class does
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/// not use FrictionPyramid data.
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/// \deprecated See function FrictionPyramid
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public: virtual FrictionPyramidPtr GetFrictionPyramid() const
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GAZEBO_DEPRECATED(7.0);
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/// \brief Get access to FrictionPyramid data, if available.
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/// \return Pointer to FrictionPyramid data or NULL if class does
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/// not use FrictionPyramid data.
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public: virtual FrictionPyramidPtr FrictionPyramid() const;
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/// \brief Allow collision checking without generating a contact joint.
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public: bool collideWithoutContact;
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/// \brief Custom collision filtering used when collideWithoutContact is
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/// true.
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public: unsigned int collideWithoutContactBitmask;
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/// \brief Custom collision filtering. Will override
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/// collideWithoutContact.
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public: unsigned int collideBitmask;
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};
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/// \}
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}
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}
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#endif
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