Contact material parameters for collision response. More...

#include <material.hpp>

Public Attributes
double	coefficient_of_restitution {0.5}
	Coefficient of restitution (bounciness): 0 = absorb, 1 = perfectly elastic.
double	coefficient_of_friction_kinetic {0.6}
	Coefficient of kinetic friction (sliding).
double	coefficient_of_friction_static {0.8}
	Coefficient of static friction (stiction).
double	collision_damping {0.1}

Detailed Description

Contact material parameters for collision response.

Physics principles: coefficient of restitution models normal impulse energy retention; static/kinetic coefficients approximate Coulomb friction limits; damping provides additional numerical dissipation after impacts.

References: https://en.wikipedia.org/wiki/Coefficient_of_restitution https://en.wikipedia.org/wiki/Friction#Coulomb_friction

Member Data Documentation

◆ coefficient_of_friction_kinetic

double frcsim::Material::coefficient_of_friction_kinetic {0.6}

Coefficient of kinetic friction (sliding).

◆ coefficient_of_friction_static

double frcsim::Material::coefficient_of_friction_static {0.8}

Coefficient of static friction (stiction).

◆ coefficient_of_restitution

double frcsim::Material::coefficient_of_restitution {0.5}

Coefficient of restitution (bounciness): 0 = absorb, 1 = perfectly elastic.

◆ collision_damping

double frcsim::Material::collision_damping {0.1}

Damping multiplier applied to collisions (0 = no damping, 1 = full damping)

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

src/main/driver/include/frcsim/rigidbody/material.hpp