[Pyode-commits] pyode/src contact.pyx,1.2,1.3

[Matthias B. <mb...@us...>]

Update of /cvsroot/pyode/pyode/src
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv20906

Modified Files:
	contact.pyx 
Log Message:
Added doc strings and methods to get/set the fdir1 parameter.

Index: contact.pyx
===================================================================
RCS file: /cvsroot/pyode/pyode/src/contact.pyx,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** contact.pyx	12 Jul 2004 17:30:08 -0000	1.2
--- contact.pyx	28 Oct 2004 09:39:16 -0000	1.3
***************
*** 25,98 ****
          self._contact.surface.bounce = 0.1
  
      def getMode(self):
          return self._contact.surface.mode
  
!     def setMode(self, m):
!         self._contact.surface.mode = m
  
      def getMu(self):
          return self._contact.surface.mu
!     
      def setMu(self, mu):
          self._contact.surface.mu = mu
  
      def getMu2(self):
          return self._contact.surface.mu2
!     
      def setMu2(self, mu):
          self._contact.surface.mu2 = mu
  
      def getBounce(self):
          return self._contact.surface.bounce
  
      def setBounce(self, b):
          self._contact.surface.bounce = b
  
      def getBounceVel(self):
          return self._contact.surface.bounce_vel
  
      def setBounceVel(self, bv):
          self._contact.surface.bounce_vel = bv
  
      def getSoftERP(self):
          return self._contact.surface.soft_erp
  
      def setSoftERP(self, erp):
          self._contact.surface.soft_erp = erp
  
      def getSoftCFM(self):
          return self._contact.surface.soft_cfm
  
      def setSoftCFM(self, cfm):
          self._contact.surface.soft_cfm = cfm
  
      def getMotion1(self):
          return self._contact.surface.motion1
  
      def setMotion1(self, m):
          self._contact.surface.motion1 = m
  
      def getMotion2(self):
          return self._contact.surface.motion2
  
      def setMotion2(self, m):
          self._contact.surface.motion2 = m
  
      def getSlip1(self):
          return self._contact.surface.slip1
  
      def setSlip1(self, s):
          self._contact.surface.slip1 = s
  
      def getSlip2(self):
          return self._contact.surface.slip2
  
      def setSlip2(self, s):
          self._contact.surface.slip2 = s
  
      def getContactGeomParams(self):
!         """Get the ContactGeom structure of the contact.
  
!         The return value is a tuple (pos,normal,depth,geom1,geom2)
          where pos and normal are 3-tuples of floats and depth is a single
          float. geom1 and geom2 are the Geom objects of the geoms in contact.
--- 25,274 ----
          self._contact.surface.bounce = 0.1
  
+     # getMode
      def getMode(self):
+         """getMode() -> flags
+ 
+         Return the contact flags.
+         """
          return self._contact.surface.mode
  
!     # setMode
!     def setMode(self, flags):
!         """setMode(flags)
  
+         Set the contact flags. The argument m is a combination of the
+         ContactXyz flags (ContactMu2, ContactBounce, ...).
+  
+         @param flags: Contact flags
+         @type flags: int
+         """
+         self._contact.surface.mode = flags
+ 
+     # getMu
      def getMu(self):
+         """getMu() -> float
+ 
+         Return the Coulomb friction coefficient. 
+         """
          return self._contact.surface.mu
! 
!     # setMu
      def setMu(self, mu):
+         """setMu(mu)
+ 
+         Set the Coulomb friction coefficient.
+ 
+         @param mu: Coulomb friction coefficient (0..Infinity)
+         @type mu: float
+         """
          self._contact.surface.mu = mu
  
+     # getMu2
      def getMu2(self):
+         """getMu2() -> float
+ 
+         Return the optional Coulomb friction coefficient for direction 2.
+         """
          return self._contact.surface.mu2
! 
!     # setMu2
      def setMu2(self, mu):
+         """setMu2(mu)
+ 
+         Set the optional Coulomb friction coefficient for direction 2.
+ 
+         @param mu: Coulomb friction coefficient (0..Infinity)
+         @type mu: float
+         """
          self._contact.surface.mu2 = mu
  
+     # getBounce
      def getBounce(self):
+         """getBounce() -> float
+ 
+         Return the restitution parameter.
+         """
          return self._contact.surface.bounce
  
+     # setBounce
      def setBounce(self, b):
+         """setBounce(b)
+ 
+         @param b: Restitution parameter (0..1)
+         @type b: float
+         """
          self._contact.surface.bounce = b
  
+     # getBounceVel
      def getBounceVel(self):
+         """getBounceVel() -> float
+ 
+         Return the minimum incoming velocity necessary for bounce.
+         """
          return self._contact.surface.bounce_vel
  
+     # setBounceVel
      def setBounceVel(self, bv):
+         """setBounceVel(bv)
+ 
+         Set the minimum incoming velocity necessary for bounce. Incoming
+         velocities below this will effectively have a bounce parameter of 0.
+ 
+         @param bv: Velocity
+         @type bv: float
+         """
          self._contact.surface.bounce_vel = bv
  
+     # getSoftERP
      def getSoftERP(self):
+         """getSoftERP() -> float
+ 
+         Return the contact normal "softness" parameter.
+         """
          return self._contact.surface.soft_erp
  
+     # setSoftERP
      def setSoftERP(self, erp):
+         """setSoftERP(erp)
+ 
+         Set the contact normal "softness" parameter.
+ 
+         @param erp: Softness parameter
+         @type erp: float
+         """
          self._contact.surface.soft_erp = erp
  
+     # getSoftCFM
      def getSoftCFM(self):
+         """getSoftCFM() -> float
+ 
+         Return the contact normal "softness" parameter.
+         """
          return self._contact.surface.soft_cfm
  
+     # setSoftCFM
      def setSoftCFM(self, cfm):
+         """setSoftCFM(cfm)
+ 
+         Set the contact normal "softness" parameter.
+ 
+         @param cfm: Softness parameter
+         @type cfm: float
+         """
          self._contact.surface.soft_cfm = cfm
  
+     # getMotion1
      def getMotion1(self):
+         """getMotion1() -> float
+ 
+         Get the surface velocity in friction direction 1.
+         """
          return self._contact.surface.motion1
  
+     # setMotion1
      def setMotion1(self, m):
+         """setMotion1(m)
+ 
+         Set the surface velocity in friction direction 1.
+ 
+         @param m: Surface velocity
+         @type m: float
+         """
          self._contact.surface.motion1 = m
  
+     # getMotion2
      def getMotion2(self):
+         """getMotion2() -> float
+ 
+         Get the surface velocity in friction direction 2.
+         """
          return self._contact.surface.motion2
  
+     # setMotion2
      def setMotion2(self, m):
+         """setMotion2(m)
+ 
+         Set the surface velocity in friction direction 2.
+ 
+         @param m: Surface velocity
+         @type m: float
+         """
          self._contact.surface.motion2 = m
  
+     # getSlip1
      def getSlip1(self):
+         """getSlip1() -> float
+ 
+         Get the coefficient of force-dependent-slip (FDS) for friction
+         direction 1.
+         """
          return self._contact.surface.slip1
  
+     # setSlip1
      def setSlip1(self, s):
+         """setSlip1(s)
+ 
+         Set the coefficient of force-dependent-slip (FDS) for friction
+         direction 1.
+ 
+         @param s: FDS coefficient
+         @type s: float
+         """
          self._contact.surface.slip1 = s
  
+     # getSlip2
      def getSlip2(self):
+         """getSlip2() -> float
+ 
+         Get the coefficient of force-dependent-slip (FDS) for friction
+         direction 2.
+         """
          return self._contact.surface.slip2
  
+     # setSlip2
      def setSlip2(self, s):
+         """setSlip2(s)
+ 
+         Set the coefficient of force-dependent-slip (FDS) for friction
+         direction 1.
+ 
+         @param s: FDS coefficient
+         @type s: float
+         """
          self._contact.surface.slip2 = s
  
+     # getFDir1
+     def getFDir1(self):
+         """getFDir1() -> (x, y, z)
+ 
+         Get the "first friction direction" vector that defines a direction
+         along which frictional force is applied.
+         """
+         return (self._contact.fdir1[0], self._contact.fdir1[1], self._contact.fdir1[2])
+ 
+     # setFDir1
+     def setFDir1(self, fdir):
+         """setFDir1(fdir)
+ 
+         Set the "first friction direction" vector that defines a direction
+         along which frictional force is applied. It must be of unit length
+         and perpendicular to the contact normal (so it is typically
+         tangential to the contact surface).
+ 
+         @param fdir: Friction direction
+         @type fdir: 3-sequence of floats
+         """
+         self._contact.fdir1[0] = fdir[0]
+         self._contact.fdir1[1] = fdir[1]
+         self._contact.fdir1[2] = fdir[2]
+         
+ 
+     # getContactGeomParams
      def getContactGeomParams(self):
!         """getContactGeomParams() -> (pos, normal, depth, geom1, geom2)
  
!         Get the ContactGeom structure of the contact.
! 
!         The return value is a tuple (pos, normal, depth, geom1, geom2)
          where pos and normal are 3-tuples of floats and depth is a single
          float. geom1 and geom2 are the Geom objects of the geoms in contact.
***************
*** 110,122 ****
          return (pos,normal,depth,g1,g2)
  
! 
      def setContactGeomParams(self, pos, normal, depth, g1=None, g2=None):
!         """Set the ContactGeom structure of the contact.
  
!         pos (3-tuple):    Contact position, in global coordinates
!         normal (3-tuple): Unit length normal vector
!         depth (float):    Depth to which the two bodies inter-penetrate.
!         g1 (geom object): Geometry objects that collided
!         g2 (geom object):   ''        ''            ''
          """
  
--- 286,305 ----
          return (pos,normal,depth,g1,g2)
  
!     # setContactGeomParams
      def setContactGeomParams(self, pos, normal, depth, g1=None, g2=None):
!         """setContactGeomParams(pos, normal, depth, geom1=None, geom2=None)
!         
!         Set the ContactGeom structure of the contact.
  
!         @param pos:  Contact position, in global coordinates
!         @type pos: 3-sequence of floats
!         @param normal: Unit length normal vector
!         @type normal: 3-sequence of floats
!         @param depth: Depth to which the two bodies inter-penetrate
!         @type depth: float
!         @param geom1: Geometry object 1 that collided
!         @type geom1: Geom
!         @param geom2: Geometry object 2 that collided
!         @type geom2: Geom
          """