frcsim::FieldObstacle Struct Reference

Convenience wrapper for constructing EnvironmentalBoundary-based obstacles. More...

#include <obstacle.hpp>

Static Public Member Functions
static FieldObstacle	makePlane (const Vector3 &point_m, const Quaternion &orientation, double restitution=0.3, double friction=0.6, int user_id=0)
	Creates an infinite plane obstacle.
static FieldObstacle	makeBox (const Vector3 &center_m, const Vector3 &half_extents_m, const Quaternion &orientation=Quaternion(), double restitution=0.3, double friction=0.6, int user_id=0)
	Creates an oriented box obstacle.
static FieldObstacle	makeCylinder (const Vector3 &center_m, double radius_m, double half_height_m, const Quaternion &orientation=Quaternion(), double restitution=0.3, double friction=0.6, int user_id=0)
	Creates an oriented cylinder obstacle aligned to local Z.

Public Attributes
EnvironmentalBoundary	boundary {}

Detailed Description

Convenience wrapper for constructing EnvironmentalBoundary-based obstacles.

Member Function Documentation

makeBox()

FieldObstacle frcsim::FieldObstacle::makeBox ( const Vector3 & center_m, const Vector3 & half_extents_m, const Quaternion & orientation = Quaternion(), double restitution = 0.3, double friction = 0.6, int user_id = 0 )

inlinestatic

Creates an oriented box obstacle.

Parameters

center_m	Box center in world coordinates.
half_extents_m	Positive half-lengths along local X/Y/Z axes.
orientation	Box orientation quaternion.
restitution	Normal restitution coefficient. Default 0.3 keeps collisions plausibly inelastic for most FRC-style field interactions while still allowing visible bounce in high-speed impacts.
friction	Tangential friction coefficient. Default 0.6 gives balanced tangential damping (less endless sliding along walls, without overly abrupt sticking in grazing contacts).
user_id	Optional tag for custom behavior grouping. Default 0 means "unclassified"; assign other values when you need to identify this obstacle in custom behavior or telemetry code.

Quaternion note: use Quaternion::fromEuler(roll, pitch, yaw) to rotate away from axis alignment.

makeCylinder()

FieldObstacle frcsim::FieldObstacle::makeCylinder ( const Vector3 & center_m, double radius_m, double half_height_m, const Quaternion & orientation = Quaternion(), double restitution = 0.3, double friction = 0.6, int user_id = 0 )

inlinestatic

Creates an oriented cylinder obstacle aligned to local Z.

Parameters

center_m	Cylinder center in world coordinates.
radius_m	Cylinder radius.
half_height_m	Half of cylinder height along local Z.
orientation	Cylinder orientation quaternion.
restitution	Normal restitution coefficient. Default 0.3 for the same reason as other boundary factories: generally damped contacts that still show rebound at speed.
friction	Tangential friction coefficient. Default 0.6 to represent typical non-ice, non-rubberized field contact behavior.
user_id	Optional tag for custom behavior grouping. Default 0; set to a custom ID when this cylinder must be distinguished from other obstacles during contact handling.

Example:

auto q = Quaternion::fromEuler(0.0, 0.0, 1.57079632679); // rotate 90 deg
about Z auto post = FieldObstacle::makeCylinder(Vector3(2.0, 1.0, 0.6),
0.15, 0.6, q);

makePlane()

FieldObstacle frcsim::FieldObstacle::makePlane ( const Vector3 & point_m, const Quaternion & orientation, double restitution = 0.3, double friction = 0.6, int user_id = 0 )

inlinestatic

Creates an infinite plane obstacle.

Parameters

point_m	A point on the plane in world coordinates.
orientation	Plane orientation; local +Z is treated as outward normal.
restitution	Normal restitution coefficient. Default is 0.3, chosen as a conservative "not perfectly rigid" value for common field elements (wood, polycarbonate, carpet transitions). Lower values reduce bounce and help objects settle; higher values increase rebound speed and can make trajectories livelier but less damped.
friction	Tangential friction coefficient. Default is 0.6, which approximates moderate grip so glancing contacts lose tangential speed without unrealistically sticking. Lower values permit more sliding; higher values increase scrub/rolling slowdown.
user_id	Optional tag for custom behavior grouping. Default is 0 (no special grouping). Use non-zero IDs to classify boundaries for custom contact logic, filtering, analytics, or game-specific rules.

Member Data Documentation

boundary

EnvironmentalBoundary frcsim::FieldObstacle::boundary {}

Underlying boundary object consumed by BallGamepieceSim.

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The documentation for this struct was generated from the following file:

• src/main/driver/include/frcsim/field/obstacle.hpp