raisim::FluidCoefficients

struct · #include <raisim/Fluid.hpp>

How a collision shape interacts with fluids. The defaults suit a solid body.

Public member functions

operator==

bool operator==(const FluidCoefficients &) const = default

Public attributes

enabled

bool enabled

Whether fluids act on the shape at all.

buoyancy

bool buoyancy

Whether the fluid holds the shape up with the weight of the fluid it displaces.

drag

double drag

Pressure drag coefficient on the area the shape shows to the flow. A negative value takes the shape's own: a sphere's follows its Reynolds number (0.41 at 10^4, 0.47 at 10^5), a box's faces 1.05, a cylinder 1.0 across its axis and 0.82 along it, a capsule 1.0 across its axis, and the triangles of a mesh 1.0.

skinFriction

double skinFriction

Skin friction coefficient of the flow along the surface.

magnusLift

double magnusLift

Lift of a sphere, or a cylinder or capsule about its axis, that spins in the flow (Magnus), as F = magnusLift rho V (omega x v).

addedMass

double addedMass

Scale of the added mass: the fluid that is accelerated with the shape.