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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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20
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -557,9 +557,11 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
}
void btMultiBodyConstraintSolver::setupMultiBodyRollingFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& constraintNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,
btManifoldPoint& cp,
btScalar combinedTorsionalFriction,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity, btScalar cfmSlip)
{
@@ -784,7 +786,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyRollingFrictionConstraint(btMult
}
}
solverConstraint.m_friction = cp.m_combinedRollingFriction;
solverConstraint.m_friction =combinedTorsionalFriction;
if(!isFriction)
{
@@ -860,7 +862,9 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo
return solverConstraint;
}
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyRollingFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyTorsionalFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,
btScalar combinedTorsionalFriction,
btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity, btScalar cfmSlip)
{
BT_PROFILE("addMultiBodyRollingFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
@@ -891,7 +895,7 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyRollingFri
solverConstraint.m_originalContactPoint = &cp;
setupMultiBodyRollingFrictionConstraint(solverConstraint, normalAxis, cp, infoGlobal,relaxation,isFriction, desiredVelocity, cfmSlip);
setupMultiBodyTorsionalFrictionConstraint(solverConstraint, normalAxis, cp, combinedTorsionalFriction,infoGlobal,relaxation,isFriction, desiredVelocity, cfmSlip);
return solverConstraint;
}
@@ -1010,9 +1014,9 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
if (rollingFriction > 0)
{
addMultiBodyRollingFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
//addMultiBodyRollingFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
//addMultiBodyRollingFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,colObj0,colObj1, relaxation,infoGlobal);
addMultiBodyTorsionalFrictionConstraint(cp.m_normalWorldOnB,manifold,frictionIndex,cp,cp.m_combinedSpinningFriction, colObj0,colObj1, relaxation,infoGlobal);
addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir1,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
addMultiBodyTorsionalFrictionConstraint(cp.m_lateralFrictionDir2,manifold,frictionIndex,cp,cp.m_combinedRollingFriction, colObj0,colObj1, relaxation,infoGlobal);
rollingFriction--;
}