Merge pull request #770 from erwincoumans/master

export contact friction/damping through URDF and API
2016-09-02 18:18:21 -07:00
parent 21c60c66ec ecd814c9c5
commit 4c9b009d5b
19 changed files with 269 additions and 125 deletions
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -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
                {