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export contact friction/damping through URDF and API

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convert from contact friction/damping to cfm/erp
btCollisionObject::setContactFrictionAndDamping
This commit is contained in:
Erwin Coumans
2016-09-02 16:40:56 -07:00
parent 23f7293a25
commit ecd814c9c5
19 changed files with 269 additions and 125 deletions
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77
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -647,26 +647,75 @@ bool UrdfParser::parseLink(UrdfModel& model, UrdfLink& link, TiXmlElement *confi
}
}
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
if (m_parseSDF)
TiXmlElement *rolling_xml = ci->FirstChildElement("rolling_friction");
if (rolling_xml)
{
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"))
if (m_parseSDF)
{
logger->reportError("Link/contact: rolling friction element must have value attribute");
return false;
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;
}
link.m_contactInfo.m_rollingFriction = urdfLexicalCast<double>(rolling_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_ROLLING_FRICTION;
}
}
{
TiXmlElement *stiffness_xml = ci->FirstChildElement("stiffness");
if (stiffness_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!stiffness_xml->Attribute("value"))
{
logger->reportError("Link/contact: stiffness element must have value attribute");
return false;
}
link.m_contactInfo.m_contactStiffness = urdfLexicalCast<double>(stiffness_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
{
TiXmlElement *damping_xml = ci->FirstChildElement("damping");
if (damping_xml)
{
if (m_parseSDF)
{
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->GetText());
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
} else
{
if (!damping_xml->Attribute("value"))
{
logger->reportError("Link/contact: damping element must have value attribute");
return false;
}
link.m_contactInfo.m_contactDamping = urdfLexicalCast<double>(damping_xml->Attribute("value"));
link.m_contactInfo.m_flags |= URDF_CONTACT_HAS_STIFFNESS_DAMPING;
}
}
}
}
}