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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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21
examples/MultiBody/MultiBodySoftContact.cpp
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@@ -36,7 +36,6 @@ public:
};
extern ContactAddedCallback gContactAddedCallback;
MultiBodySoftContact::MultiBodySoftContact(struct GUIHelperInterface* helper)
@@ -47,18 +46,7 @@ m_once(true)
MultiBodySoftContact::~MultiBodySoftContact()
{
gContactAddedCallback = 0;
}
static bool btMultiBodySoftContactCallback(btManifoldPoint& cp, const btCollisionObjectWrapper* colObj0Wrap,int partId0,int index0,const btCollisionObjectWrapper* colObj1Wrap,int partId1,int index1)
{
cp.m_contactCFM = 0.3;
cp.m_contactERP = 0.2;
cp.m_contactPointFlags |= BT_CONTACT_FLAG_HAS_CONTACT_CFM;
cp.m_contactPointFlags |= BT_CONTACT_FLAG_HAS_CONTACT_ERP;
return true;
}
@@ -66,7 +54,7 @@ static bool btMultiBodySoftContactCallback(btManifoldPoint& cp, const btCollisio
void MultiBodySoftContact::initPhysics()
{
gContactAddedCallback = btMultiBodySoftContactCallback;
int upAxis = 2;
m_guiHelper->setUpAxis(upAxis);
@@ -109,12 +97,13 @@ void MultiBodySoftContact::initPhysics()
start.setOrigin(groundOrigin);
// start.setRotation(groundOrn);
btRigidBody* body = createRigidBody(0,start,box);
//setContactStiffnessAndDamping will enable compliant rigid body contact
body->setContactStiffnessAndDamping(300,10);
btVector4 color = colors[curColor];
curColor++;
curColor&=3;
m_guiHelper->createRigidBodyGraphicsObject(body,color);
int flags = body->getCollisionFlags();
body->setCollisionFlags(flags|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}