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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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20
examples/RigidBody/RigidBodySoftContact.cpp
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@@ -29,7 +29,7 @@ subject to the following restrictions:
#include "BulletDynamics/MLCPSolvers/btMLCPSolver.h"
#include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h"
extern ContactAddedCallback gContactAddedCallback;
struct RigidBodySoftContact : public CommonRigidBodyBase
@@ -40,7 +40,7 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
}
virtual ~RigidBodySoftContact()
{
gContactAddedCallback = 0;
}
virtual void initPhysics();
virtual void renderScene();
@@ -55,21 +55,12 @@ struct RigidBodySoftContact : public CommonRigidBodyBase
};
static bool btRigidBodySoftContactCallback(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;
}
void RigidBodySoftContact::initPhysics()
{
gContactAddedCallback = btRigidBodySoftContactCallback;
m_guiHelper->setUpAxis(1);
@@ -120,8 +111,9 @@ void RigidBodySoftContact::initPhysics()
{
btScalar mass(0.);
btRigidBody* body = createRigidBody(mass,groundTransform,groundShape, btVector4(0,0,1,1));
int flags = body->getCollisionFlags();
body->setCollisionFlags(flags|btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
body->setContactStiffnessAndDamping(300,10);
}