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separate spinning and rolling friction coefficients, exposed in URDF as spinning_friction / m_rolling_friction

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improvements in VR demo, add grasper etc.
This commit is contained in:
Erwin Coumans
2016-09-16 00:57:00 +01:00
parent 1d88cf71e4
commit 567b003654
14 changed files with 92 additions and 74 deletions
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src/BulletCollision/CollisionDispatch/btManifoldResult.cpp
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@@ -135,6 +135,7 @@ void btManifoldResult::addContactPoint(const btVector3& normalOnBInWorld,const b
newPt.m_combinedFriction = calculateCombinedFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRestitution = calculateCombinedRestitution(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedRollingFriction = calculateCombinedRollingFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
newPt.m_combinedSpinningFriction = calculateCombinedSpinningFriction(m_body0Wrap->getCollisionObject(),m_body1Wrap->getCollisionObject());
if ( (m_body0Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING) ||
(m_body1Wrap->getCollisionObject()->getCollisionFlags()& btCollisionObject::CF_HAS_CONTACT_STIFFNESS_DAMPING))