15 INLINE
void OdeSurfaceParameters::
17 _surface_parameters.mode = mode;
20 INLINE
void OdeSurfaceParameters::
22 _surface_parameters.mu = mu;
25 INLINE
void OdeSurfaceParameters::
27 _surface_parameters.mu2 = mu2;
30 INLINE
void OdeSurfaceParameters::
31 set_bounce(dReal bounce) {
32 _surface_parameters.bounce = bounce;
35 INLINE
void OdeSurfaceParameters::
36 set_bounce_vel(dReal bounce_vel) {
37 _surface_parameters.bounce_vel = bounce_vel;
40 INLINE
void OdeSurfaceParameters::
41 set_soft_erp(dReal soft_erp) {
42 _surface_parameters.soft_erp = soft_erp;
45 INLINE
void OdeSurfaceParameters::
46 set_soft_cfm(dReal soft_cfm) {
47 _surface_parameters.soft_cfm = soft_cfm;
50 INLINE
void OdeSurfaceParameters::
51 set_motion1(dReal motion) {
52 _surface_parameters.motion1 = motion;
55 INLINE
void OdeSurfaceParameters::
56 set_motion2(dReal motion) {
57 _surface_parameters.motion2 = motion;
60 INLINE
void OdeSurfaceParameters::
61 set_slip1(dReal slip) {
62 _surface_parameters.slip1 = slip;
65 INLINE
void OdeSurfaceParameters::
66 set_slip2(dReal slip) {
67 _surface_parameters.slip2 = slip;
71 INLINE
int OdeSurfaceParameters::
73 return _surface_parameters.mode;
76 INLINE dReal OdeSurfaceParameters::
78 return _surface_parameters.mu;
81 INLINE dReal OdeSurfaceParameters::
83 return _surface_parameters.mu2;
86 INLINE dReal OdeSurfaceParameters::
88 return _surface_parameters.bounce;
91 INLINE dReal OdeSurfaceParameters::
92 get_bounce_vel()
const {
93 return _surface_parameters.bounce_vel;
96 INLINE dReal OdeSurfaceParameters::
97 get_soft_erp()
const {
98 return _surface_parameters.soft_erp;
101 INLINE dReal OdeSurfaceParameters::
102 get_soft_cfm()
const {
103 return _surface_parameters.soft_cfm;
106 INLINE dReal OdeSurfaceParameters::
107 get_motion1()
const {
108 return _surface_parameters.motion1;
111 INLINE dReal OdeSurfaceParameters::
112 get_motion2()
const {
113 return _surface_parameters.motion2;
116 INLINE dReal OdeSurfaceParameters::
118 return _surface_parameters.slip1;
121 INLINE dReal OdeSurfaceParameters::
123 return _surface_parameters.slip2;