71 lines
2.1 KiB
C++
71 lines
2.1 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_BULLETSURFACEPARAMS_HH_
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#define _GAZEBO_BULLETSURFACEPARAMS_HH_
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#include <sdf/sdf.hh>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/msgs/msgs.hh"
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#include "gazebo/physics/SurfaceParams.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_bullet
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/// \{
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/// \brief Bullet surface parameters.
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class GZ_PHYSICS_VISIBLE BulletSurfaceParams : public SurfaceParams
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{
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/// \brief Constructor.
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public: BulletSurfaceParams();
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/// \brief Destructor.
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public: virtual ~BulletSurfaceParams();
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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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// Documentation inherited.
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public: virtual void FillMsg(msgs::Surface &_msg);
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// Documentation inherited.
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public: virtual void ProcessMsg(const msgs::Surface &_msg);
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// Documentation inherited.
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public: virtual FrictionPyramidPtr GetFrictionPyramid() const
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GAZEBO_DEPRECATED(7.0);
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// Documentation inherited.
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public: virtual FrictionPyramidPtr FrictionPyramid() const;
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/// \brief Friction pyramid parameters (mu1, mu2).
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// For further documentation, see:
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// github.com/erwincoumans/bullet3/blob/master/src/BulletDynamics
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// /ConstraintSolver/btSequentialImpulseConstraintSolver.cpp#L910
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private: FrictionPyramidPtr frictionPyramid;
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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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