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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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2
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -153,7 +153,7 @@ public:
}
m_robotSim.setGravity(b3MakeVector3(0,0,-10));
//m_robotSim.setNumSimulationSubSteps(4);
m_robotSim.setNumSimulationSubSteps(4);
}
if ((m_options & eTWO_POINT_GRASP)!=0)

2
examples/RoboticsLearning/R2D2GraspExample.cpp
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@@ -117,7 +117,7 @@ public:
b3RobotSimLoadFileArgs args("");
b3RobotSimLoadFileResults results;
{
args.m_fileName = "cube.urdf";
args.m_fileName = "cube_soft.urdf";
args.m_startPosition.setValue(0,0,2.5);
args.m_startOrientation.setEulerZYX(0,0.2,0);
m_robotSim.loadFile(args,results);