Robotsystem of the Robot Group Leipzig: substance.h File Reference

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# substance.h File Reference

`#include <ode/common.h>`
`#include <ode/contact.h>`

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## Namespaces
namespace | lpzrobots
## 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...
## Typedefs
typedef int(*) | lpzrobots::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.