restore property name, add explicit get/set

dartsim · Nov 19, 2019 · 2c506f3 · 2c506f3
1 parent 05ddc81
commit 2c506f3
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Showing 3 changed files with 19 additions and 8 deletions.
diff --git a/dart/dynamics/ShapeFrame.cpp b/dart/dynamics/ShapeFrame.cpp
@@ -55,7 +55,7 @@ CollisionAspectProperties::CollisionAspectProperties(const bool collidable)
 //==============================================================================
 DynamicsAspectProperties::DynamicsAspectProperties(
     const double frictionCoeff, const double restitutionCoeff)
-  : mPrimaryFrictionCoeff(frictionCoeff),
+  : mFrictionCoeff(frictionCoeff),
     mRestitutionCoeff(restitutionCoeff),
     mSecondaryFrictionCoeff(frictionCoeff)
 {
@@ -67,7 +67,7 @@ DynamicsAspectProperties::DynamicsAspectProperties(
     const double primaryFrictionCoeff,
     const double secondaryFrictionCoeff,
     const double restitutionCoeff)
-  : mPrimaryFrictionCoeff(primaryFrictionCoeff),
+  : mFrictionCoeff(primaryFrictionCoeff),
     mRestitutionCoeff(restitutionCoeff),
     mSecondaryFrictionCoeff(secondaryFrictionCoeff)
 {
@@ -189,17 +189,27 @@ DynamicsAspect::DynamicsAspect(const PropertiesData& properties)
 
 void DynamicsAspect::setFrictionCoeff(const double& value)
 {
-  mProperties.mPrimaryFrictionCoeff = value;
+  mProperties.mFrictionCoeff = value;
   mProperties.mSecondaryFrictionCoeff = value;
 }
 
 double DynamicsAspect::getFrictionCoeff() const
 {
   return 0.5 * (
-      mProperties.mPrimaryFrictionCoeff +
+      mProperties.mFrictionCoeff +
       mProperties.mSecondaryFrictionCoeff);
 }
 
+void DynamicsAspect::setPrimaryFrictionCoeff(const double& value)
+{
+  mProperties.mFrictionCoeff = value;
+}
+
+const double& DynamicsAspect::getPrimaryFrictionCoeff() const
+{
+  return mProperties.mFrictionCoeff;
+}
+
 //==============================================================================
 ShapeFrame::~ShapeFrame()
 {

diff --git a/dart/dynamics/ShapeFrame.hpp b/dart/dynamics/ShapeFrame.hpp
@@ -148,9 +148,10 @@ class DynamicsAspect final : public common::AspectWithVersionedProperties<
   /// Get average of primary and secondary friction coefficients.
   double getFrictionCoeff() const;
 
-  DART_COMMON_SET_GET_ASPECT_PROPERTY(double, PrimaryFrictionCoeff)
-  // void setPrimaryFrictionCoeff(const double& value);
-  // const double& getPrimaryFrictionCoeff() const;
+  // DART_COMMON_SET_GET_ASPECT_PROPERTY(double, PrimaryFrictionCoeff)
+  void setPrimaryFrictionCoeff(const double& value);
+  const double& getPrimaryFrictionCoeff() const;
+
   DART_COMMON_SET_GET_ASPECT_PROPERTY(double, SecondaryFrictionCoeff)
   // void setSecondaryFrictionCoeff(const double& value);
   // const double& getSecondaryFrictionCoeff() const;

diff --git a/dart/dynamics/detail/ShapeFrameAspect.hpp b/dart/dynamics/detail/ShapeFrameAspect.hpp
@@ -89,7 +89,7 @@ struct CollisionAspectProperties
 struct DynamicsAspectProperties
 {
   /// Primary coefficient of friction
-  double mPrimaryFrictionCoeff;
+  double mFrictionCoeff;
 
   /// Coefficient of restitution
   double mRestitutionCoeff;