14 INLINE
void OdeSurfaceParameters::
16 _surface_parameters.mode = mode;
19 INLINE
void OdeSurfaceParameters::
21 _surface_parameters.mu = mu;
24 INLINE
void OdeSurfaceParameters::
26 _surface_parameters.mu2 = mu2;
29 INLINE
void OdeSurfaceParameters::
30 set_bounce(dReal bounce) {
31 _surface_parameters.bounce = bounce;
34 INLINE
void OdeSurfaceParameters::
35 set_bounce_vel(dReal bounce_vel) {
36 _surface_parameters.bounce_vel = bounce_vel;
39 INLINE
void OdeSurfaceParameters::
40 set_soft_erp(dReal soft_erp) {
41 _surface_parameters.soft_erp = soft_erp;
44 INLINE
void OdeSurfaceParameters::
45 set_soft_cfm(dReal soft_cfm) {
46 _surface_parameters.soft_cfm = soft_cfm;
49 INLINE
void OdeSurfaceParameters::
50 set_motion1(dReal motion) {
51 _surface_parameters.motion1 = motion;
54 INLINE
void OdeSurfaceParameters::
55 set_motion2(dReal motion) {
56 _surface_parameters.motion2 = motion;
59 INLINE
void OdeSurfaceParameters::
60 set_slip1(dReal slip) {
61 _surface_parameters.slip1 = slip;
64 INLINE
void OdeSurfaceParameters::
65 set_slip2(dReal slip) {
66 _surface_parameters.slip2 = slip;
70 INLINE
int OdeSurfaceParameters::
72 return _surface_parameters.mode;
75 INLINE dReal OdeSurfaceParameters::
77 return _surface_parameters.mu;
80 INLINE dReal OdeSurfaceParameters::
82 return _surface_parameters.mu2;
85 INLINE dReal OdeSurfaceParameters::
87 return _surface_parameters.bounce;
90 INLINE dReal OdeSurfaceParameters::
91 get_bounce_vel()
const {
92 return _surface_parameters.bounce_vel;
95 INLINE dReal OdeSurfaceParameters::
96 get_soft_erp()
const {
97 return _surface_parameters.soft_erp;
100 INLINE dReal OdeSurfaceParameters::
101 get_soft_cfm()
const {
102 return _surface_parameters.soft_cfm;
105 INLINE dReal OdeSurfaceParameters::
106 get_motion1()
const {
107 return _surface_parameters.motion1;
110 INLINE dReal OdeSurfaceParameters::
111 get_motion2()
const {
112 return _surface_parameters.motion2;
115 INLINE dReal OdeSurfaceParameters::
117 return _surface_parameters.slip1;
120 INLINE dReal OdeSurfaceParameters::
122 return _surface_parameters.slip2;