/usr/share/sdformat/1.5/surface.sdf is in sdformat-sdf 2.0.0-6.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 | <element name="surface" required="0">
<description>The surface parameters</description>
<element name="bounce" required="0">
<description></description>
<element name="restitution_coefficient" type="double" default="0" min="0.0" max="1.0" required="0">
<description>Bounciness coefficient of restitution, from [0...1], where 0=no bounciness.</description>
</element>
<element name="threshold" type="double" default="100000" required="0">
<description>Bounce capture velocity, below which effective coefficient of restitution is 0.</description>
</element>
</element> <!-- End Bounce -->
<element name="friction" required="0">
<description></description>
<element name="ode" required="0">
<description>ODE friction parameters</description>
<element name="mu" type="double" default="1" min="0.0" required="0">
<description>Coefficient of friction in the range of [0..1].</description>
</element>
<element name="mu2" type="double" default="1" min="0.0" required="0">
<description>Second coefficient of friction in the range of [0..1]</description>
</element>
<element name="fdir1" type="vector3" default="0 0 0" required="0">
<description>3-tuple specifying direction of mu1 in the collision local reference frame.</description>
</element>
<element name="slip1" type="double" default="0.0" required="0">
<description>Force dependent slip direction 1 in collision local frame, between the range of [0..1].</description>
</element>
<element name="slip2" type="double" default="0.0" required="0">
<description>Force dependent slip direction 2 in collision local frame, between the range of [0..1].</description>
</element>
</element> <!-- End ODE -->
<element name="bullet" required="0">
<element name="friction" type="double" default="1" min="0.0" required="0">
<description>Coefficient of friction in the range of [0..1].</description>
</element>
<element name="friction2" type="double" default="1" min="0.0" required="0">
<description>Coefficient of friction in the range of [0..1].</description>
</element>
<element name="fdir1" type="vector3" default="0 0 0" required="0">
<description>3-tuple specifying direction of mu1 in the collision local reference frame.</description>
</element>
<element name="rolling_friction" type="double" default="1" required="0">
<description> coefficient of friction in the range of [0..1]</description>
</element>
</element> <!-- End Bullet -->
</element> <!-- End Friction -->
<element name="contact" required="0">
<description></description>
<element name="collide_without_contact" type="bool" default="0" required="0">
<description>Flag to disable contact force generation, while still allowing collision checks and contact visualization to occur.</description>
</element>
<element name="collide_without_contact_bitmask" type="unsigned int" default="1" required="0">
<description>Bitmask for collision filtering when collide_without_contact is on </description>
</element>
<element name="ode" required="0">
<description>ODE contact parameters</description>
<element name="soft_cfm" type="double" default="0" required="0">
<description>Soft constraint force mixing.</description>
</element>
<element name="soft_erp" type="double" default="0.2" required="0">
<description>Soft error reduction parameter</description>
</element>
<element name="kp" type="double" default="1000000000000.0" required="0">
<description>dynamically "stiffness"-equivalent coefficient for contact joints</description>
</element>
<element name="kd" type="double" default="1.0" required="0">
<description>dynamically "damping"-equivalent coefficient for contact joints</description>
</element>
<element name="max_vel" type="double" default="0.01" required="0">
<description>maximum contact correction velocity truncation term.</description>
</element>
<element name="min_depth" type="double" default="0" required="0">
<description>minimum allowable depth before contact correction impulse is applied</description>
</element>
</element> <!-- End ODE -->
<element name="bullet" required="0">
<description>Bullet contact parameters</description>
<element name="soft_cfm" type="double" default="0" required="0">
<description>Soft constraint force mixing.</description>
</element>
<element name="soft_erp" type="double" default="0.2" required="0">
<description>Soft error reduction parameter</description>
</element>
<element name="kp" type="double" default="1000000000000.0" required="0">
<description>dynamically "stiffness"-equivalent coefficient for contact joints</description>
</element>
<element name="kd" type="double" default="1.0" required="0">
<description>dynamically "damping"-equivalent coefficient for contact joints</description>
</element>
<element name="split_impulse" type="bool" default="1" required="1">
<description>Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.</description>
</element>
<element name="split_impulse_penetration_threshold" type="double" default="-0.01" required="1">
<description>Similar to ODE's max_vel implementation. See http://bulletphysics.org/mediawiki-1.5.8/index.php/BtContactSolverInfo#Split_Impulse for more information.</description>
</element>
</element> <!-- End Bullet -->
</element> <!-- End Contact -->
<!-- for deformable bodies -->
<element name="soft_contact" required="0">
<element name="dart" required="0">
<description>soft contact pamameters based on paper:
http://www.cc.gatech.edu/graphics/projects/Sumit/homepage/papers/sigasia11/jain_softcontacts_siga11.pdf
</description>
<element name="bone_attachment" type="double" default="100.0" required="1">
<description>This is variable k_v in the soft contacts paper. Its unit is N/m.</description>
</element>
<element name="stiffness" type="double" default="100.0" required="1">
<description>This is variable k_e in the soft contacts paper. Its unit is N/m.</description>
</element>
<element name="damping" type="double" default="10.0" required="1">
<description>Viscous damping of point velocity in body frame. Its unit is N/m/s.</description>
</element>
<element name="flesh_mass_fraction" type="double" default="0.05" required="1">
<description>Fraction of mass to be distributed among deformable nodes.</description>
</element>
</element> <!-- dart -->
</element> <!-- soft_contact -->
</element> <!-- End Surface -->
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