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

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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
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4
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -166,6 +166,10 @@ void processContactParameters(const URDFLinkContactInfo& contactInfo, btCollisio
{
col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness, contactInfo.m_contactDamping);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_FRICTION_ANCHOR) != 0)
{
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_HAS_FRICTION_ANCHOR);
}
}

3
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -23,7 +23,8 @@ enum URDF_LinkContactFlags
URDF_CONTACT_HAS_ROLLING_FRICTION=32,
URDF_CONTACT_HAS_SPINNING_FRICTION=64,
URDF_CONTACT_HAS_RESTITUTION=128,
URDF_CONTACT_HAS_FRICTION_ANCHOR=256,
};
struct URDFLinkContactInfo

7
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -767,6 +767,13 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
}
{
TiXmlElement *friction_anchor = ci->FirstChildElement("friction_anchor");
if (friction_anchor)
{
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_FRICTION_ANCHOR;
}
}
{