Robot Simulator of the Robotics Group for Self-Organization of Control: substance.h File Reference

# substance.h File Reference

`#include <ode-dbl/common.h>`
`#include <ode-dbl/contact.h>`
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## Classes
class | Substance
| Physical substance definition, used for collision detection/treatment What we need is mu, slip and kp,kd parameter for the collision Definition of substance parameters: More...
class | DebugSubstance
## Namespaces
namespace | lpzrobots

| forward declarations
## Typedefs
typedef int(* | CollisionCallback )(dSurfaceParameters &params, GlobalData &globaldata, void *userdata, dContact *contacts, int numContacts, dGeomID o1, dGeomID o2, const Substance &s1, const Substance &s2)
| function to be called at a collision event between the two geoms.