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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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4
src/BulletCollision/CollisionDispatch/btCollisionObject.cpp
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@@ -33,6 +33,8 @@ btCollisionObject::btCollisionObject()
m_friction(btScalar(0.5)),
m_restitution(btScalar(0.)),
m_rollingFriction(0.0f),
m_contactDamping(.1),
m_contactStiffness(1e4),
m_internalType(CO_COLLISION_OBJECT),
m_userObjectPointer(0),
m_userIndex2(-1),
@@ -92,6 +94,8 @@ const char* btCollisionObject::serialize(void* dataBuffer, btSerializer* seriali
dataOut->m_deactivationTime = m_deactivationTime;
dataOut->m_friction = m_friction;
dataOut->m_rollingFriction = m_rollingFriction;
dataOut->m_contactDamping = m_contactDamping;
dataOut->m_contactStiffness = m_contactStiffness;
dataOut->m_restitution = m_restitution;
dataOut->m_internalType = m_internalType;