#include <ShapeFrameAspect.hpp>

Public Member Functions
	DynamicsAspectProperties (const double frictionCoeff=1.0, const double restitutionCoeff=0.0)
	Constructors The frictionCoeff argument will be used for both primary and secondary friction. More...

	DynamicsAspectProperties (const double primaryFrictionCoeff, const double secondaryFrictionCoeff, const double restitutionCoeff, const double primarySlipCompliance=-1.0, const double secondarySlipCompliance=-1.0, const Eigen::Vector3d &firstFrictionDirection=Eigen::Vector3d::Zero(), const Frame *firstFrictionDirectionFrame=nullptr)
	Set primary and secondary friction and restitution coefficients. More...

virtual	~DynamicsAspectProperties ()=default
	Destructor. More...

Public Attributes
double	mFrictionCoeff
	Primary coefficient of friction. More...

double	mRestitutionCoeff
	Coefficient of restitution. More...

double	mSecondaryFrictionCoeff
	Secondary coefficient of friction. More...

double	mPrimarySlipCompliance
	Primary slip compliance coefficient. More...

double	mSecondarySlipCompliance
	Secondary slip compliance coefficient. More...

Eigen::Vector3d	mFirstFrictionDirection
	First friction direction unit vector. More...

const Frame *	mFirstFrictionDirectionFrame
	First friction direction frame The first friction direction unit vector is expressed in this frame. More...

Constructor & Destructor Documentation

◆ DynamicsAspectProperties() [1/2]

dart::dynamics::detail::DynamicsAspectProperties::DynamicsAspectProperties	(	const double	frictionCoeff = `1.0`,
		const double	restitutionCoeff = `0.0`
	)

Constructors The frictionCoeff argument will be used for both primary and secondary friction.

◆ DynamicsAspectProperties() [2/2]

dart::dynamics::detail::DynamicsAspectProperties::DynamicsAspectProperties	(	const double	primaryFrictionCoeff,
		const double	secondaryFrictionCoeff,
		const double	restitutionCoeff,
		const double	primarySlipCompliance = `-1.0`,
		const double	secondarySlipCompliance = `-1.0`,
		const Eigen::Vector3d &	firstFrictionDirection = `Eigen::Vector3d::Zero()`,
		const Frame *	firstFrictionDirectionFrame = `nullptr`
	)

Set primary and secondary friction and restitution coefficients.

The first friction direction vector and frame may optionally be set. The vector defaults to a zero-vector, which will cause it to be ignored and the global friction directions used instead. If the vector is set to a non-zero vector, the first friction direction for this shape is computed from this vector expressed in the frame given by the Frame pointer. THe Frame pointer defaults to nullptr, which is interpreted as the body-fixed frame of this Shape. Note that if two objects with custom friction directions come into contact, only one of the directions can be chosen. One approach is to use the first friction direction for the ShapeNode with the smaller primary friction coefficient, since that has the dominant effect. See the ContactConstraint implementation for further details.

◆ ~DynamicsAspectProperties()

virtual dart::dynamics::detail::DynamicsAspectProperties::~DynamicsAspectProperties ( )

virtualdefault

Destructor.

Member Data Documentation

◆ mFirstFrictionDirection

Eigen::Vector3d dart::dynamics::detail::DynamicsAspectProperties::mFirstFrictionDirection

First friction direction unit vector.

◆ mFirstFrictionDirectionFrame

const Frame* dart::dynamics::detail::DynamicsAspectProperties::mFirstFrictionDirectionFrame

First friction direction frame The first friction direction unit vector is expressed in this frame.

◆ mFrictionCoeff

double dart::dynamics::detail::DynamicsAspectProperties::mFrictionCoeff

Primary coefficient of friction.

◆ mPrimarySlipCompliance

double dart::dynamics::detail::DynamicsAspectProperties::mPrimarySlipCompliance

Primary slip compliance coefficient.

◆ mRestitutionCoeff

double dart::dynamics::detail::DynamicsAspectProperties::mRestitutionCoeff

Coefficient of restitution.

◆ mSecondaryFrictionCoeff

double dart::dynamics::detail::DynamicsAspectProperties::mSecondaryFrictionCoeff

Secondary coefficient of friction.

◆ mSecondarySlipCompliance

double dart::dynamics::detail::DynamicsAspectProperties::mSecondarySlipCompliance

Secondary slip compliance coefficient.

Public Member Functions

Public Attributes