raisim::FluidSample

struct · #include <raisim/Fluid.hpp>

The liquid of a FluidVolume where a body is: its surface over the body and its velocity there.

Public attributes

surfaceHeight

double surfaceHeight

Height of the free surface over the point [m].

surfaceNormal

Vec<3> surfaceNormal

Normal of the free surface there (normalized when used), in the world frame; a wave tilts it.

velocity

Vec<3> velocity

Velocity of the liquid at the point [m/s], in the world frame.

acceleration

Vec<3> acceleration

Acceleration of the liquid passing the point [m/s^2], in the world frame, as in waves: its change there plus that of moving along, du/dt + (grad u) u. The liquid that accelerates pushes a body as it pushes the liquid the body displaces, and carries its added mass.