Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix issue with btMultiBody friction in combination with soft contacts (friction should not re-use normal contact cfm/erp)

Browse Source 
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
This commit is contained in:
Erwin Coumans
2017-03-20 10:58:07 -07:00
parent 865d37fcb5
commit 0b017b0f53
18 changed files with 299 additions and 91 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
data/cube_soft.urdf
View File

@@ -2,7 +2,8 @@
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<friction_anchor/>
<lateral_friction value="1.3"/>
<rolling_friction value="0.0"/>
<stiffness value="300"/>
<damping value="10"/>