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Merge pull request #765 from YunfeiBai/master

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Torsional and rolling friction for btMultiBody
This commit is contained in:
erwincoumans
2016-09-01 14:57:46 -07:00
committed by GitHub
parent 03f09042e2 9c124b5896
commit a370c3bbac
13 changed files with 595 additions and 22 deletions
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21
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -646,6 +646,27 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
}
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
} else
{
if (!rolling_xml->Attribute("value"))
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
}
}
}