raisim::DeformableTerrain::Material

struct · #include <raisim/object/terrain/DeformableTerrain.hpp>

Public attributes

bekkerKc

double bekkerKc

Bekker pressure = (kc / contactWidth + kphi) * sinkage^exponent, in Pa.

bekkerKphi

double bekkerKphi

sinkageExponent

double sinkageExponent

elasticStiffness

double elasticStiffness

Elastic unloading/reloading stiffness per area, Pa/m.

damping

double damping

Loading-only normal viscosity, Pa s/m. Zero disables it.

cohesion

double cohesion

Mohr-Coulomb shear strength = cohesion + normalPressure * frictionCoefficient.

frictionCoefficient

double frictionCoefficient

shearDisplacement

double shearDisplacement

Janosi-Hanamoto displacement scale, m. Zero uses fully mobilized Coulomb friction.