raisim::contact::TerrainContactSolveState

struct · #include <raisim/contact/BisectionContactSolver.hpp>

Internal per-solve constants and normal pressure evaluations for an area contact.

Public attributes

depth

double depth

pressure

double pressure

tangent

double tangent

normalFactor

double normalFactor

viscosity

double viscosity

impulseScale

double impulseScale

cohesionImpulse

double cohesionImpulse

law

const TerrainContactLaw *law

historyMobilization

double historyMobilization