RobWorkProject
23.9.11-
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Used as body userdata to be able to determine friction and restitution on contact pairs. More...
#include <BtMaterial.hpp>
Public Member Functions | |
BtMaterial (const rwsim::dynamics::MaterialDataMap *frictionMap, const std::string &material, const rwsim::dynamics::ContactDataMap *collisionMap, const std::string &objectType) | |
Construct new material definition. More... | |
virtual | ~BtMaterial () |
Destructor. | |
const rwsim::dynamics::MaterialDataMap * | getFrictionMap () const |
Get the friction map. More... | |
const rwsim::dynamics::ContactDataMap * | getContactDataMap () const |
Get the collision map. More... | |
const std::string & | getMaterial () const |
Get the friction material. More... | |
const std::string & | getObjectType () const |
Get the type of object (for collisions). More... | |
Static Public Member Functions | |
static double | getFriction (const BtMaterial *a, const BtMaterial *b) |
Get Coulomb friction value between two materials. More... | |
static double | getRestitution (const BtMaterial *a, const BtMaterial *b) |
Get Newton restitution value between two objects. More... | |
Used as body userdata to be able to determine friction and restitution on contact pairs.
BtMaterial | ( | const rwsim::dynamics::MaterialDataMap * | frictionMap, |
const std::string & | material, | ||
const rwsim::dynamics::ContactDataMap * | collisionMap, | ||
const std::string & | objectType | ||
) |
Construct new material definition.
frictionMap | [in] the friction map to look up in (must point to the same map for two objects in contact). |
material | [in] the name of the friction material. |
collisionMap | [in] the collision map to look up in (must point to the same map for two objects in contact). |
objectType | [in] the type of collision object. |
const rwsim::dynamics::ContactDataMap* getContactDataMap | ( | ) | const |
Get the collision map.
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static |
Get Coulomb friction value between two materials.
a | [in] first material. |
b | [in] second material. |
Exception | if materials does not refer to the same map or the pair of materials did not exist in map. |
const rwsim::dynamics::MaterialDataMap* getFrictionMap | ( | ) | const |
Get the friction map.
const std::string& getMaterial | ( | ) | const |
Get the friction material.
const std::string& getObjectType | ( | ) | const |
Get the type of object (for collisions).
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static |
Get Newton restitution value between two objects.
a | [in] first material. |
b | [in] second material. |
Exception | if materials does not refer to the same map. |