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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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11
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -634,13 +634,14 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
#define ENABLE_FRICTION
#ifdef ENABLE_FRICTION
solverConstraint.m_frictionIndex = frictionIndex;
#if ROLLING_FRICTION
//#define ROLLING_FRICTION
#ifdef ROLLING_FRICTION
int rollingFriction=1;
btVector3 angVelA(0,0,0),angVelB(0,0,0);
if (rb0)
angVelA = rb0->getAngularVelocity();
if (rb1)
angVelB = rb1->getAngularVelocity();
if (mbA)
angVelA = mbA->getVelocityVector()>getLink(fcA->m_link).l>getAngularVelocity();
if (mbB)
angVelB = mbB->getAngularVelocity();
btVector3 relAngVel = angVelB-angVelA;
if ((cp.m_combinedRollingFriction>0.f) && (rollingFriction>0))