BulletSurfaceParams.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
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4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
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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 
27 namespace gazebo
28 {
29  namespace physics
30  {
33 
35  class GZ_PHYSICS_VISIBLE BulletSurfaceParams : public SurfaceParams
36  {
38  public: BulletSurfaceParams();
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
boost::shared_ptr< FrictionPyramid > FrictionPyramidPtr
Definition: PhysicsTypes.hh:165
Parameters used for friction pyramid model.
Definition: SurfaceParams.hh:36
Forward declarations for the common classes.
Definition: Animation.hh:33
Bullet surface parameters.
Definition: BulletSurfaceParams.hh:35
SurfaceParams defines various Surface contact parameters.
Definition: SurfaceParams.hh:167