ContactParams Class Reference

#include <ContactParams.hh>

List of all members.

Detailed Description

Contact params.

Public Member Functions

 ContactParams ()
void Load (XMLConfigNode *node)
 Load the contact params.

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
 bounce vel
double softCfm
 soft constraint force mixing

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

Last updated Aug 04 2007