14INLINE
void OdeSurfaceParameters::
16 _surface_parameters.mode = mode;
19INLINE
void OdeSurfaceParameters::
21 _surface_parameters.mu = mu;
24INLINE
void OdeSurfaceParameters::
26 _surface_parameters.mu2 = mu2;
29INLINE
void OdeSurfaceParameters::
30set_bounce(dReal bounce) {
31 _surface_parameters.bounce = bounce;
34INLINE
void OdeSurfaceParameters::
35set_bounce_vel(dReal bounce_vel) {
36 _surface_parameters.bounce_vel = bounce_vel;
39INLINE
void OdeSurfaceParameters::
40set_soft_erp(dReal soft_erp) {
41 _surface_parameters.soft_erp = soft_erp;
44INLINE
void OdeSurfaceParameters::
45set_soft_cfm(dReal soft_cfm) {
46 _surface_parameters.soft_cfm = soft_cfm;
49INLINE
void OdeSurfaceParameters::
50set_motion1(dReal motion) {
51 _surface_parameters.motion1 = motion;
54INLINE
void OdeSurfaceParameters::
55set_motion2(dReal motion) {
56 _surface_parameters.motion2 = motion;
59INLINE
void OdeSurfaceParameters::
60set_slip1(dReal slip) {
61 _surface_parameters.slip1 = slip;
64INLINE
void OdeSurfaceParameters::
65set_slip2(dReal slip) {
66 _surface_parameters.slip2 = slip;
70INLINE
int OdeSurfaceParameters::
72 return _surface_parameters.mode;
75INLINE dReal OdeSurfaceParameters::
77 return _surface_parameters.mu;
80INLINE dReal OdeSurfaceParameters::
82 return _surface_parameters.mu2;
85INLINE dReal OdeSurfaceParameters::
87 return _surface_parameters.bounce;
90INLINE dReal OdeSurfaceParameters::
91get_bounce_vel()
const {
92 return _surface_parameters.bounce_vel;
95INLINE dReal OdeSurfaceParameters::
97 return _surface_parameters.soft_erp;
100INLINE dReal OdeSurfaceParameters::
101get_soft_cfm()
const {
102 return _surface_parameters.soft_cfm;
105INLINE dReal OdeSurfaceParameters::
107 return _surface_parameters.motion1;
110INLINE dReal OdeSurfaceParameters::
112 return _surface_parameters.motion2;
115INLINE dReal OdeSurfaceParameters::
117 return _surface_parameters.slip1;
120INLINE dReal OdeSurfaceParameters::
122 return _surface_parameters.slip2;