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Merge pull request #1896 from jviereck/jviereck_add_lateral_contact_info

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Adding support for lateral friction to getContactPoints()
This commit is contained in:
erwincoumans
2018-10-06 15:27:14 -07:00
committed by GitHub
parent cb55094a11 219dfc757a
commit c0e38cd921
3 changed files with 61 additions and 10 deletions
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11
examples/SharedMemory/SharedMemoryPublic.h
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@@ -572,13 +572,10 @@ struct b3ContactPointData
double m_normalForce;
//todo: expose the friction forces as well
// double m_linearFrictionDirection0[3];
// double m_linearFrictionForce0;
// double m_linearFrictionDirection1[3];
// double m_linearFrictionForce1;
// double m_angularFrictionDirection[3];
// double m_angularFrictionForce;
double m_linearFrictionForce1;
double m_linearFrictionForce2;
double m_linearFrictionDirection1[3];
double m_linearFrictionDirection2[3];
};
enum