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separate spinning friction (torsional friction around contact normal) from

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rolling friction (orthogonal to contact normal)
This commit is contained in:
Erwin Coumans
2016-09-16 00:04:33 +01:00
parent 4d6a95017e
commit 1d88cf71e4
11 changed files with 67 additions and 9 deletions
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23
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -672,7 +672,28 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
}
{
TiXmlElement *spinning_xml = ci->FirstChildElement("spinning_friction");
if (spinning_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_spinningFriction = urdfLexicalCast<double>(spinning_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
} else
{
if (!spinning_xml->Attribute("value"))
{
logger->reportError("Link/contact: spinning friction element must have value attribute");
return false;
}
link.m_contactInfo.m_spinningFriction = urdfLexicalCast<double>(spinning_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_SPINNING_FRICTION;
}
}
}
{
TiXmlElement *stiffness_xml = ci->FirstChildElement("stiffness");