contact_params_inl.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * 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.
 */
 
#pragma once
 
// PLEASE DO NOT ADD OTHER INCLUDES HERE. This header is included in the mochi_physics public API.
#include "contact_params.h" // Reverse include for intellisense
 
namespace superdex {
 
inline ContactParams::ContactParams(
    real penaltyCoefficient,
    real penaltySmoothingHalfDistance,
    real penaltyThresholdDefault,
    real penaltyThresholdExtraPadding,
    bool frictionWithColliderNormal,
    real maxAlignmentNormals,
    real viscousFrictionCoefficient,
    real coulombFrictionCoefficient,
    real frictionFalloffVel,
    real normalViscousDampingCoefficient,
    real distanceErrorBound,
    real objScale,
    real collidingPenaltyLengthScale)
    : penaltyCoefficient(penaltyCoefficient),
      penaltySmoothingHalfDistance(penaltySmoothingHalfDistance),
      penaltyThresholdDefault(penaltyThresholdDefault),
      penaltyThresholdExtraPadding(penaltyThresholdExtraPadding),
      frictionWithColliderNormal(frictionWithColliderNormal),
      maxAlignmentNormals(maxAlignmentNormals),
      viscousFrictionCoefficient(viscousFrictionCoefficient),
      coulombFrictionCoefficient(coulombFrictionCoefficient),
      frictionFalloffVel(frictionFalloffVel),
      normalViscousDampingCoefficient(normalViscousDampingCoefficient),
      distanceErrorBound(distanceErrorBound),
      objScale(objScale),
      collidingPenaltyLengthScale(collidingPenaltyLengthScale) {}
 
inline real ContactParams::GetPenaltyThresholdDist(bool addPadding) const {
  return penaltyThresholdDefault + (addPadding ? penaltyThresholdExtraPadding : 0_r);
}
 
} // namespace superdex