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expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...)

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Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
This commit is contained in:
Erwin Coumans
2017-05-26 18:14:38 -07:00
parent 8c6d4a4c85
commit b645963879
12 changed files with 317 additions and 51 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -491,7 +491,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyContactConstraint(btMultiBodySol
if(!isFriction)
{
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
if (restitution <= btScalar(0.))
{
restitution = 0.f;
@@ -830,7 +830,7 @@ void btMultiBodyConstraintSolver::setupMultiBodyTorsionalFrictionConstraint(btMu
if(!isFriction)
{
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution);
restitution = restitutionCurve(rel_vel, cp.m_combinedRestitution, infoGlobal.m_restitutionVelocityThreshold);
if (restitution <= btScalar(0.))
{
restitution = 0.f;