void getForce(float* force, float* contact);
float getWoW();
float getCompressFraction();
+ float getCompressDist() { return _compressDist; }
private:
float calcFriction(float wgt, float v);
float _contact[3];
float _wow;
float _frac;
+ float _compressDist;
double _global_ground[4];
float _global_vel[3];
float _casterAngle;