ContactParams Class Reference

#include <ContactParams.hh>

List of all members.

Detailed Description

Contact params

Public Member Functions

 ContactParams ()

Public Attributes

double kp
 Spring constant.
double kd
 Damping constant.
double bounce
 0..1, 0=no bounciness
double mu1
 first coefficient of friction
double mu2
 second coefficient of friction
double slip1
 Force-dependent-slip direction 1.
double slip2
 Force-dependent-slip direction 2.
double bounceVel
double softCfm

Member Data Documentation

double bounceVel

bounce vel

double softCfm

soft constraint force mixing

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

Last updated Aug 04 2007