Class floorContactForce

class floorContactForce : public baseForce

Public Functions

floorContactForce(const shared_ptr<softRobots> &soft_robots, double floor_delta, double floor_slipTol, double floor_z, double floor_mu = 0.0)

~floorContactForce() override

virtual void computeForce(double dt) override

virtual void computeForceAndJacobian(double dt) override

void change_slip_tol(double scale)

void reset_slip_tol()

Public Members

double min_dist

int num_contacts