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prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h

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prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)
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erwin coumans
2016-07-11 00:26:40 -07:00
parent 02582e3a78
commit 7633cfb800
25 changed files with 1175 additions and 41 deletions
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13
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -392,9 +392,18 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
u2b.convertLinkVisualShapes2(urdfLinkIndex,pathPrefix,localInertialFrame,col);
btScalar friction = 0.5f;
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex,contactInfo);
col->setFriction(friction);
if ((contactInfo.m_flags & URDF_CONTACT_HAS_LATERAL_FRICTION)!=0)
{
col->setFriction(contactInfo.m_lateralFriction);
}
if ((contactInfo.m_flags & URDF_CONTACT_HAS_ROLLING_FRICTION)!=0)
{
col->setRollingFriction(contactInfo.m_rollingFriction);
}
if (mbLinkIndex>=0) //???? double-check +/- 1
{