BulletSurfaceParams.hh
Go to the documentation of this file.
1/*
2 * Copyright (C) 2012 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef _GAZEBO_BULLETSURFACEPARAMS_HH_
19#define _GAZEBO_BULLETSURFACEPARAMS_HH_
20
21#include <sdf/sdf.hh>
22
23#include "gazebo/msgs/msgs.hh"
25#include "gazebo/util/system.hh"
26
27namespace gazebo
28{
29 namespace physics
30 {
33
35 class GZ_PHYSICS_VISIBLE BulletSurfaceParams : public SurfaceParams
36 {
39
41 public: virtual ~BulletSurfaceParams();
42
45 public: virtual void Load(sdf::ElementPtr _sdf);
46
47 // Documentation inherited.
48 public: virtual void FillMsg(msgs::Surface &_msg);
49
50 // Documentation inherited.
51 public: virtual void ProcessMsg(const msgs::Surface &_msg);
52
53 // Documentation inherited.
54 public: virtual FrictionPyramidPtr FrictionPyramid() const;
55
57 // For further documentation, see:
58 // github.com/erwincoumans/bullet3/blob/master/src/BulletDynamics
59 // /ConstraintSolver/btSequentialImpulseConstraintSolver.cpp#L910
60 private: FrictionPyramidPtr frictionPyramid;
61 };
63 }
64}
65#endif
Bullet surface parameters.
Definition BulletSurfaceParams.hh:36
virtual void FillMsg(msgs::Surface &_msg)
Fill in a surface message.
virtual void ProcessMsg(const msgs::Surface &_msg)
Process a surface message.
virtual FrictionPyramidPtr FrictionPyramid() const
Get access to FrictionPyramid data, if available.
virtual ~BulletSurfaceParams()
Destructor.
virtual void Load(sdf::ElementPtr _sdf)
Load the contact params.
SurfaceParams defines various Surface contact parameters.
Definition SurfaceParams.hh:168
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition PhysicsTypes.hh:165
Forward declarations for the common classes.
Definition Animation.hh:27