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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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8
src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -145,7 +145,13 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_combinedContactStiffness1 = calculateCombinedContactStiffness(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_contactPointFlags |= BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING;
}
if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR) ||
(m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_FRICTION_ANCHOR))
{
newPt.m_contactPointFlags |= BT_CONTACT_FLAG_FRICTION_ANCHOR;
}
btPlaneSpace1(newPt.m_normalWorldOnB,newPt.m_lateralFrictionDir1,newPt.m_lateralFrictionDir2);