ContactParams Class Reference
#include <ContactParams.hh>
Detailed Description
Contact paramsPublic Member Functions | |
| ContactParams () | |
| Constructor. | |
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: