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Implement true implicit friction cone, instead of friction pyramid, for btMultiBody vs btMultiBody and btMultiBody vs btRigidBody

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See data/sphere_small_zeroinertia.urdf for an example.
This commit is contained in:
erwincoumans
2017-11-23 17:38:23 -08:00
parent 874d764051
commit e6e3da11e5
3 changed files with 289 additions and 51 deletions
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30
data/sphere_small_zeroinertia.urdf Normal file
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<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.03 0.03 0.03"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
</link>
</robot>