ODESurfaceParams.hh

/*
 * Copyright 2011 Nate Koenig & Andrew Howard
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: common::Parameters for contact joints
 * Author: Nate Koenig
 * Date: 30 July 2003
 */

#ifndef ODESURFACEPARAMS_HH
#define ODESURFACEPARAMS_HH

#include "sdf/sdf.h"

namespace gazebo
{
    namespace physics
  {
    

    class ODESurfaceParams
    {
      public: ODESurfaceParams();
    
      public: virtual void Load( sdf::ElementPtr _sdf );
   
      //public: double kp;   
    
      //public: double kd;
    
      //public: double bounce;

      //public: double bounceThreshold;
      
      //public: double mu1;
    
      //public: double mu2;
    
      //public: double slip1;
    
      //public: double slip2;   

      //public: math::Vector3 fdir1;
   
      //public: double softCFM;

      //public: double softERP;

      //public: double maxVel;
      //public: double minDepth;
    };
    typedef  boost::shared_ptr<ODESurfaceParams> ODESurfaceParamsPtr;
  }
}
#endif