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add <restitution> in <contact> settings of URDF/SDF

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allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF.
enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld.
allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API.
process contact parameters in URDF also for btRigidBody (friction, restitution etc)
add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
This commit is contained in:
Erwin Coumans
2016-11-30 22:24:20 -08:00
parent a5eda81e47
commit 15cda75130
11 changed files with 354 additions and 57 deletions
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25
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -672,6 +672,31 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
}
{
TiXmlElement *restitution_xml = ci->FirstChildElement("restitution");
if (restitution_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
}
else
{
if (!restitution_xml->Attribute("value"))
{
logger->reportError("Link/contact: restitution element must have value attribute");
return false;
}
link.m_contactInfo.m_restitution = urdfLexicalCast<double>(restitution_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_RESTITUTION;
}
}
}
{
TiXmlElement *spinning_xml = ci->FirstChildElement("spinning_friction");
if (spinning_xml)