export contact friction/damping through URDF and API

convert from contact friction/damping to cfm/erp btCollisionObject::setContactFrictionAndDamping
2016-09-02 16:40:56 -07:00
parent 23f7293a25
commit ecd814c9c5
19 changed files with 269 additions and 125 deletions
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -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)