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Merge pull request #770 from erwincoumans/master

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export contact friction/damping through URDF and API
This commit is contained in:
erwincoumans
2016-09-02 18:18:21 -07:00
committed by GitHub
parent 21c60c66ec ecd814c9c5
commit 4c9b009d5b
19 changed files with 269 additions and 125 deletions
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5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
View File

@@ -410,7 +410,10 @@ void ConvertURDF2BulletInternal(
{
col->setRollingFriction(contactInfo.m_rollingFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_STIFFNESS_DAMPING)!=0)
{
col->setContactStiffnessAndDamping(contactInfo.m_contactStiffness,contactInfo.m_contactDamping);
}
if (mbLinkIndex>=0) //???? double-check +/- 1
{

10
examples/Importers/ImportURDFDemo/URDFJointTypes.h
View File

@@ -19,7 +19,8 @@ enum URDF_LinkContactFlags
URDF_CONTACT_HAS_ROLLING_FRICTION=2,
URDF_CONTACT_HAS_INERTIA_SCALING=2,
URDF_CONTACT_HAS_CONTACT_CFM=4,
URDF_CONTACT_HAS_CONTACT_ERP=8
URDF_CONTACT_HAS_CONTACT_ERP=8,
URDF_CONTACT_HAS_STIFFNESS_DAMPING=16,
};
struct URDFLinkContactInfo
@@ -29,6 +30,9 @@ struct URDFLinkContactInfo
btScalar m_inertiaScaling;
btScalar m_contactCfm;
btScalar m_contactErp;
btScalar m_contactStiffness;
btScalar m_contactDamping;
int m_flags;
URDFLinkContactInfo()
@@ -36,7 +40,9 @@ struct URDFLinkContactInfo
m_rollingFriction(0),
m_inertiaScaling(1),
m_contactCfm(0),
m_contactErp(0)
m_contactErp(0),
m_contactStiffness(1e4),
m_contactDamping(1)
{
m_flags = URDF_CONTACT_HAS_LATERAL_FRICTION;
}

77
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -647,26 +647,75 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
if (m_parseSDF)
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} else
{
if (!rolling_xml->Attribute("value"))
if (m_parseSDF)
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} else
{
if (!rolling_xml->Attribute("value"))
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
}
{
TiXmlElement *stiffness_xml = ci->FirstChildElement("stiffness");
if (stiffness_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!stiffness_xml->Attribute("value"))
{
logger->reportError("Link/contact: stiffness element must have value attribute");
return false;
}
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
{
TiXmlElement *damping_xml = ci->FirstChildElement("damping");
if (damping_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!damping_xml->Attribute("value"))
{
logger->reportError("Link/contact: damping element must have value attribute");
return false;
}
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
}
}