35 enum ModeFlags { MF_contact_mu2 = 0x001,
36 MF_contactFDir1 = 0x002,
37 MF_contactBounce = 0x004,
38 MF_contactSoftERP = 0x008,
39 MF_contactSoftCFM = 0x010,
40 MF_contactMotion1 = 0x020,
41 MF_contactMotion2 = 0x040,
42 MF_contactSlip1 = 0x080,
43 MF_contactSlip2 = 0x100,
45 MF_contactApprox0 = 0x0000,
46 MF_contactApprox1_1 = 0x1000,
47 MF_contactApprox1_2 = 0x2000,
48 MF_contactApprox1 = 0x3000 };
70 INLINE
void set_mode(
int mode);
71 INLINE
void set_mu(dReal mu);
72 INLINE
void set_mu2(dReal mu2);
73 INLINE
void set_bounce(dReal bounce);
74 INLINE
void set_bounce_vel(dReal bounce_vel);
75 INLINE
void set_soft_erp(dReal soft_erp);
76 INLINE
void set_soft_cfm(dReal soft_cfm);
77 INLINE
void set_motion1(dReal motion);
78 INLINE
void set_motion2(dReal motion);
79 INLINE
void set_slip1(dReal slip);
80 INLINE
void set_slip2(dReal slip);
82 INLINE
int get_mode()
const;
83 INLINE dReal get_mu()
const;
84 INLINE dReal get_mu2()
const;
85 INLINE dReal get_bounce()
const;
86 INLINE dReal get_bounce_vel()
const;
87 INLINE dReal get_soft_erp()
const;
88 INLINE dReal get_soft_cfm()
const;
89 INLINE dReal get_motion1()
const;
90 INLINE dReal get_motion2()
const;
91 INLINE dReal get_slip1()
const;
92 INLINE dReal get_slip2()
const;
95 const dSurfaceParameters *get_surface_parameters_ptr()
const;
99 dSurfaceParameters _surface_parameters;
108 TypedObject::get_class_type());
111 return get_class_type();
void register_type(TypeHandle &type_handle, const std::string &name)
This inline function is just a convenient way to call TypeRegistry::register_type(),...