From d48ea5bb797037069d641da41da0f195f0124491 Mon Sep 17 00:00:00 2001 From: dan miller Date: Fri, 19 Oct 2007 05:20:48 +0000 Subject: one more for the gipper --- libraries/ode-0.9/docs/contact_8h-source.html | 109 ++++++++++++++++++++++++++ 1 file changed, 109 insertions(+) create mode 100644 libraries/ode-0.9/docs/contact_8h-source.html (limited to 'libraries/ode-0.9/docs/contact_8h-source.html') diff --git a/libraries/ode-0.9/docs/contact_8h-source.html b/libraries/ode-0.9/docs/contact_8h-source.html new file mode 100644 index 0000000..0339e51 --- /dev/null +++ b/libraries/ode-0.9/docs/contact_8h-source.html @@ -0,0 +1,109 @@ + + +Open Dynamics Engine: contact.h Source File + + + + +
+ +
+

contact.h

00001 /*************************************************************************
+00002  *                                                                       *
+00003  * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+00004  * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+00005  *                                                                       *
+00006  * This library is free software; you can redistribute it and/or         *
+00007  * modify it under the terms of EITHER:                                  *
+00008  *   (1) The GNU Lesser General Public License as published by the Free  *
+00009  *       Software Foundation; either version 2.1 of the License, or (at  *
+00010  *       your option) any later version. The text of the GNU Lesser      *
+00011  *       General Public License is included with this library in the     *
+00012  *       file LICENSE.TXT.                                               *
+00013  *   (2) The BSD-style license that is included with this library in     *
+00014  *       the file LICENSE-BSD.TXT.                                       *
+00015  *                                                                       *
+00016  * This library is distributed in the hope that it will be useful,       *
+00017  * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+00018  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+00019  * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+00020  *                                                                       *
+00021  *************************************************************************/
+00022 
+00023 #ifndef _ODE_CONTACT_H_
+00024 #define _ODE_CONTACT_H_
+00025 
+00026 #include <ode/common.h>
+00027 
+00028 #ifdef __cplusplus
+00029 extern "C" {
+00030 #endif
+00031 
+00032 
+00033 enum {
+00034   dContactMu2     = 0x001,
+00035   dContactFDir1      = 0x002,
+00036   dContactBounce  = 0x004,
+00037   dContactSoftERP = 0x008,
+00038   dContactSoftCFM = 0x010,
+00039   dContactMotion1 = 0x020,
+00040   dContactMotion2 = 0x040,
+00041   dContactSlip1      = 0x080,
+00042   dContactSlip2      = 0x100,
+00043 
+00044   dContactApprox0 = 0x0000,
+00045   dContactApprox1_1  = 0x1000,
+00046   dContactApprox1_2  = 0x2000,
+00047   dContactApprox1 = 0x3000
+00048 };
+00049 
+00050 
+00051 typedef struct dSurfaceParameters {
+00052   /* must always be defined */
+00053   int mode;
+00054   dReal mu;
+00055 
+00056   /* only defined if the corresponding flag is set in mode */
+00057   dReal mu2;
+00058   dReal bounce;
+00059   dReal bounce_vel;
+00060   dReal soft_erp;
+00061   dReal soft_cfm;
+00062   dReal motion1,motion2;
+00063   dReal slip1,slip2;
+00064 } dSurfaceParameters;
+00065 
+00066 
+00081 typedef struct dContactGeom {
+00082   dVector3 pos;          
+00083   dVector3 normal;       
+00084   dReal depth;           
+00085   dGeomID g1,g2;         
+00086   int side1,side2;       
+00087 } dContactGeom;
+00088 
+00089 
+00090 /* contact info used by contact joint */
+00091 
+00092 typedef struct dContact {
+00093   dSurfaceParameters surface;
+00094   dContactGeom geom;
+00095   dVector3 fdir1;
+00096 } dContact;
+00097 
+00098 
+00099 #ifdef __cplusplus
+00100 }
+00101 #endif
+00102 
+00103 #endif
+
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+ + -- cgit v1.1