Physics::SurfaceParams Class Reference

Surface parameters can define a surface or the way two surfaces interact when in contact. More...

#include <SurfaceParams.h>

List of all members.

Public Types
enum	ESurfaceMode {   NONE = 0, MU2 = dContactMu2, FDIR1 = dContactFDir1, BOUNCE = dContactBounce,   SOFT_ERP = dContactSoftERP, SOFT_CFM = dContactSoftCFM, MOTION1 = dContactMotion1, MOTION2 = dContactMotion2,   MOTION_N = dContactMotionN, SLIP1 = dContactSlip1, SLIP2 = dContactSlip2, APPROX1_1 = dContactApprox1_1,   APPROX1_2 = dContactApprox1_2, APPROX1 = dContactApprox1 }
Public Member Functions
	SurfaceParams ()
	SurfaceParams (int mode, dReal mu, dReal mu2=0, dReal bounce=0, dReal bounce_vel=0, dReal soft_erp=0, dReal soft_cfm=0, dReal motion1=0, dReal motion2=0, dReal motionN=0, dReal slip1=0, dReal slip2=0)
PVLE_EXPORT void	mergeInto (const SurfaceParams &s1, const SurfaceParams &s2)
	Merges two surface parameters into this one.
Static Protected Member Functions
static SurfaceParams &	asSurfaceParams (dSurfaceParameters &sp)
	Dev note : This method is used to cast ODE to PVLE (forced downcast). If using a simple cast (It's illegal from a pure C++ point of view), this class must NOT DEFINE ANY MEMBER (cast from dSurfaceParameters to SurfaceParams should be always ok).
static const SurfaceParams &	asSurfaceParams (const dSurfaceParameters &sp)
Friends
class	Contact

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Detailed Description

Surface parameters can define a surface or the way two surfaces interact when in contact.

Definition at line 41 of file SurfaceParams.h.

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Member Enumeration Documentation

enum Physics::SurfaceParams::ESurfaceMode

Enumerator:

NONE
MU2
FDIR1
BOUNCE
SOFT_ERP
SOFT_CFM
MOTION1
MOTION2
MOTION_N
SLIP1
SLIP2
APPROX1_1
APPROX1_2
APPROX1

Definition at line 43 of file SurfaceParams.h.

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Constructor & Destructor Documentation

Physics::SurfaceParams::SurfaceParams

(

)

[inline]

Definition at line 60 of file SurfaceParams.h.

References Physics::PHY_INFINITY.

Physics::SurfaceParams::SurfaceParams	(	int	mode,
		dReal	mu,
		dReal	mu2 = 0,
		dReal	bounce = 0,
		dReal	bounce_vel = 0,
		dReal	soft_erp = 0,
		dReal	soft_cfm = 0,
		dReal	motion1 = 0,
		dReal	motion2 = 0,
		dReal	motionN = 0,
		dReal	slip1 = 0,
		dReal	slip2 = 0
	)			[inline]

Definition at line 61 of file SurfaceParams.h.

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Member Function Documentation

static const SurfaceParams& Physics::SurfaceParams::asSurfaceParams

(

const dSurfaceParameters &

sp

)

[inline, static, protected]

Definition at line 75 of file SurfaceParams.h.

static SurfaceParams& Physics::SurfaceParams::asSurfaceParams

(

dSurfaceParameters &

sp

)

[inline, static, protected]

Dev note : This method is used to cast ODE to PVLE (forced downcast). If using a simple cast (It's illegal from a pure C++ point of view), this class must NOT DEFINE ANY MEMBER (cast from dSurfaceParameters to SurfaceParams should be always ok).

Definition at line 74 of file SurfaceParams.h.

Referenced by Physics::Contact::getSurfaceParams().

void Physics::SurfaceParams::mergeInto	(	const SurfaceParams &	s1,
		const SurfaceParams &	s2
	)

Merges two surface parameters into this one.

Marging is the way surface parameters are computed for a contact. For example, some parameters are summed, other are minimized, etc.

Todo:

Needs a lot of testing and debugging : this small method is error prone (because effects are not easily detected).

Todo:

if not set, use the parameters (such as CFM / ERP) from the world (instead of using the other's value)

Definition at line 33 of file SurfaceParams.cpp.

References APPROX1_1, APPROX1_2, BOUNCE, MOTION1, MOTION2, MU2, Physics::PHY_INFINITY, SLIP1, SLIP2, SOFT_CFM, SOFT_ERP, and THROW_TRACED_EXCEPTION.

Referenced by Physics::NearCallback::operator()().

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Friends And Related Function Documentation

friend class Contact [friend]

Definition at line 71 of file SurfaceParams.h.

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

• SurfaceParams.h
• SurfaceParams.cpp