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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/RobotSimulator/b3RobotSimulatorClientAPI.cpp
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@@ -210,7 +210,7 @@ void b3RobotSimulatorClientAPI::stepSimulation()
{
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, b3InitStepSimulationCommand(m_data->m_physicsClientHandle));
statusType = b3GetStatusType(statusHandle);
b3Assert(statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED);
//b3Assert(statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED);
}
}
@@ -226,7 +226,7 @@ void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetGravity(command, gravityAcceleration[0], gravityAcceleration[1], gravityAcceleration[2]);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
// b3Assert(b3GetStatusType(statusHandle) == CMD_CLIENT_COMMAND_COMPLETED);
}
b3Quaternion b3RobotSimulatorClientAPI::getQuaternionFromEuler(const b3Vector3& rollPitchYaw)