BtMaterial Class Reference

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...

Detailed Description

Used as body userdata to be able to determine friction and restitution on contact pairs.

Constructor & Destructor Documentation

BtMaterial()

BtMaterial	(	const rwsim::dynamics::MaterialDataMap *	frictionMap,
		const std::string &	material,
		const rwsim::dynamics::ContactDataMap *	collisionMap,
		const std::string &	objectType
	)

Construct new material definition.

Parameters

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.

Member Function Documentation

getContactDataMap()

const rwsim::dynamics::ContactDataMap* getContactDataMap

(

)

const

Get the collision map.

Returns

a pointer to a read-only collision map.

getFriction()

static double getFriction ( const BtMaterial *  a, const BtMaterial *  b  )

static

Get Coulomb friction value between two materials.

Parameters

a	[in] first material.
b	[in] second material.

Returns

the friction value.

Exceptions

Exception

if materials does not refer to the same map or the pair of materials did not exist in map.

getFrictionMap()

const rwsim::dynamics::MaterialDataMap* getFrictionMap

(

)

const

Get the friction map.

Returns

a pointer to a read-only friction map.

getMaterial()

const std::string& getMaterial

(

)

const

Get the friction material.

Returns

the name of the material.

getObjectType()

const std::string& getObjectType

(

)

const

Get the type of object (for collisions).

Returns

the name of the object type.

getRestitution()

static double getRestitution ( const BtMaterial *  a, const BtMaterial *  b  )

static

Get Newton restitution value between two objects.

Parameters

a	[in] first material.
b	[in] second material.

Returns

the restitution value.

Exceptions

Exception

if materials does not refer to the same map.

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

• BtMaterial.hpp