package gazebo.msgs;

/// \ingroup gazebo_msgs
/// \interface Surface
/// \brief Information about a surface element


import "friction.proto";

message Surface
{
  optional Friction friction                = 1;
  optional double restitution_coefficient   = 2;
  optional double bounce_threshold          = 3;
  optional double soft_cfm                  = 4;
  optional double soft_erp                  = 5;
  optional double kp                        = 6;
  optional double kd                        = 7;
  optional double max_vel                   = 8;
  optional double min_depth                 = 9;
  optional bool collide_without_contact     = 10;
  optional uint32 collide_without_contact_bitmask = 11;
  optional uint32 collide_bitmask           = 12;
  optional double elastic_modulus           = 13;
}
