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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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3
src/BulletCollision/CollisionDispatch/btManifoldResult.h
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@@ -145,6 +145,9 @@ public:
/// in the future we can let the user override the methods to combine restitution and friction
static btScalar calculateCombinedRestitution(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedFriction(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedRollingFriction(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedContactDamping(const btCollisionObject* body0,const btCollisionObject* body1);
static btScalar calculateCombinedContactStiffness(const btCollisionObject* body0,const btCollisionObject* body1);
};
#endif //BT_MANIFOLD_RESULT_H