frcsim::PhysicsWorld::MaterialInteraction Struct Reference

Material-pair contact interaction override entry. More...

#include <physics_world.hpp>

Public Attributes
std::int32_t	material_a_id {0}
	First material numeric id (application-defined namespace).
std::int32_t	material_b_id {0}
	Second material numeric id (application-defined namespace).
double	restitution {0.5}
	Pair-specific restitution coefficient, typically in [0, 1].
double	friction {0.6}
	Pair-specific friction coefficient, typically >= 0.
bool	enabled {true}
	True when this row should be considered during lookup.

Detailed Description

Material-pair contact interaction override entry.

This table row overrides default contact coefficients when a body with material_a_id collides with a boundary or body using material_b_id. Lookup is symmetric, so (A, B) and (B, A) are equivalent.

Member Data Documentation

enabled

bool frcsim::PhysicsWorld::MaterialInteraction::enabled {true}

True when this row should be considered during lookup.

friction

double frcsim::PhysicsWorld::MaterialInteraction::friction {0.6}

Pair-specific friction coefficient, typically >= 0.

material_a_id

std::int32_t frcsim::PhysicsWorld::MaterialInteraction::material_a_id {0}

First material numeric id (application-defined namespace).

material_b_id

std::int32_t frcsim::PhysicsWorld::MaterialInteraction::material_b_id {0}

Second material numeric id (application-defined namespace).

restitution

double frcsim::PhysicsWorld::MaterialInteraction::restitution {0.5}

Pair-specific restitution coefficient, typically in [0, 1].

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

• src/main/driver/include/frcsim/physics_world.hpp