raisim::MaterialPairProperties

struct · #include <raisim/Materials.hpp>

Contact properties of a pair of materials.

Constructors & destructor

MaterialPairProperties

MaterialPairProperties() = default

MaterialPairProperties(double c_f_, double c_r_, double r_th_)

The static friction coefficient equals c_f_ and its transition speed is 1 m/s.

Parameters

Parameter	Description
c_f_ (in)	friction coefficient
c_r_ (in)	restitution coefficient
r_th_ (in)	restitution threshold velocity (m/s)

MaterialPairProperties(
    double c_f_,
    double c_r_,
    double r_th_,
    double c_sf_,
    double v_sf_)

Parameters

Parameter	Description
c_f_ (in)	dynamic friction coefficient
c_r_ (in)	restitution coefficient
r_th_ (in)	restitution threshold velocity (m/s)
c_sf_ (in)	static friction coefficient
v_sf_ (in)	static friction transition speed (m/s), see setStaticFrictionVelocityThreshold()

MaterialPairProperties(
    double c_f_,
    double c_r_,
    double r_th_,
    double c_sf_,
    double v_sf_,
    double c_rf_,
    double c_spf_)

Parameters

Parameter	Description
c_f_ (in)	dynamic friction coefficient
c_r_ (in)	restitution coefficient
r_th_ (in)	restitution threshold velocity (m/s)
c_sf_ (in)	static friction coefficient
v_sf_ (in)	static friction transition speed (m/s)
c_rf_ (in)	rolling friction coefficient
c_spf_ (in)	spinning friction coefficient

Public member functions

setStaticFrictionVelocityThreshold

void setStaticFrictionVelocityThreshold(double threshold)

Sets the transition speed and its reciprocal together. A non-positive or non-finite threshold disables the static-friction blend rather than storing 1/0 = inf in the material table, where it would propagate through copies, checkpoints and XML export.

Parameters

Parameter	Description
threshold (in)	transition speed (m/s)

Public attributes

c_f

double c_f

Coefficient of friction.

c_r

double c_r

Coefficient of restitution.

r_th

double r_th

Restitution threshold velocity (m/s).

c_static_f

double c_static_f

Static friction coefficient.

v_static_speed

double v_static_speed

Static friction transition speed (m/s). Set it with setStaticFrictionVelocityThreshold().

v_static_speed_inv

double v_static_speed_inv

Inverse of static friction transition speed. Zero when there is no transition band.

c_rolling_f

double c_rolling_f

Rolling friction coefficient. Zero keeps the standard contact solver path.

c_spinning_f

double c_spinning_f

Spinning friction coefficient. Zero keeps the standard contact solver path.