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.