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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/SharedMemory/PhysicsClientC_API.cpp
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@@ -914,7 +914,7 @@ b3SharedMemoryStatusHandle b3ProcessServerStatus(b3PhysicsClientHandle physClien
int b3GetStatusType(b3SharedMemoryStatusHandle statusHandle)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
//b3Assert(status);
if (status)
{
return status->m_type;
@@ -1063,7 +1063,7 @@ b3SharedMemoryStatusHandle b3SubmitClientCommandAndWaitStatus(b3PhysicsClientHan
b3SubmitClientCommand(physClient, commandHandle);
while ((statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
while (cl->isConnected() && (statusHandle == 0) && (clock.getTimeInSeconds()-startTime < timeOutInSeconds))
{
statusHandle = b3ProcessServerStatus(physClient);
}