Webots Reference Manual - chapter 3 - section 13

Webots Reference Manual


3.13 ContactProperties

ContactProperties {
  SFString   material1           "default"
  SFString   material2           "default"
  SFFloat    coulombFriction     1          # [0,inf)
  SFFloat    bounce              0.5        # [0,1]
  SFFloat    bounceVelocity      0.01       # (m/s)
  SFFloat    forceDependentSlip  0
}

3.13.1 Description

ContactProperties nodes define the contact properties to use in case of contact between Solid nodes (or any node derived from Solid). ContactProperties nodes are placed in the contactProperties field of the WorldInfo node. Each ContactProperties node specifies the name of two materials for which these ContactProperties are valid.

When two Solid nodes collide, a matching ContactProperties node is searched in the WorldInfo.contactProperties field. A ContactProperties node will match if its material1 and material2 fields correspond (in any order) to the the contactMaterial fields of the two colliding Solids. The values of the first matching ContactProperties are applied to the contact. If no matching node is found, default values are used. The default values are the same as those indicated above.

In older Webots versions, contact properties used to be specified in Physics nodes. For compatibility reasons, contact properties specified like this are still functional in Webots, but they trigger deprecation warnings. To remove these warning you need to switch to the new scheme described in this page. This can be done in three steps: 1. Add ContactProperties nodes in WorldInfo, 2. Define the contactMaterial fields of Solid nodes, 3. Reset the values of coulombFriction, bounce, bounceVelocity and forceDependentSlip in the Physics nodes.

3.13.2 Field Summary

release 7.0.2
Copyright © 2012 Cyberbotics Ltd. All right reserved.