Helper factory for perimeter wall obstacles. More...

Static Public Member Functions
static std::array< FieldObstacle, 4 >	makeAxisAlignedPerimeter (const Vector3 &min_corner_m, const Vector3 &max_corner_m, double wall_height_m, double restitution=0.25, double friction=0.6)
	Creates four axis-aligned box walls around a rectangular field footprint.

Detailed Description

Helper factory for perimeter wall obstacles.

Coordinate conventions follow WPILib field coordinates (blue-alliance origin):

Origin is at the blue-alliance right-corner wall intersection when viewed from above.
+X points from blue toward red downfield.
+Y points across the field width.
+Z points upward.

Member Function Documentation

std::array< FieldObstacle, 4 > frcsim::FieldWall::makeAxisAlignedPerimeter	(	const Vector3 &	min_corner_m,
		const Vector3 &	max_corner_m,
		double	wall_height_m,
		double	restitution = 0.25,
		double	friction = 0.6 )

inlinestatic

Creates four axis-aligned box walls around a rectangular field footprint.

Parameters

min_corner_m	Lower world-space corner of the field bounds.
max_corner_m	Upper world-space corner of the field bounds.
wall_height_m	Wall height in meters.
restitution	Wall restitution for collisions. Default is 0.25, which models mostly energy-absorbing perimeter walls so balls lose speed on impact instead of ping-ponging around the field. Lower values (near 0) make impacts deaden quickly; higher values (near 1) preserve more normal velocity and increase bounce height/distance.
friction	Wall friction coefficient for tangential damping. Default is 0.6 to provide noticeable sliding resistance at contact. This balances "roll and settle" behavior versus prolonged wall-skimming.

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