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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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15
src/BulletCollision/NarrowPhaseCollision/btManifoldPoint.h
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@@ -40,6 +40,7 @@ enum btContactPointFlags
BT_CONTACT_FLAG_LATERAL_FRICTION_INITIALIZED=1,
BT_CONTACT_FLAG_HAS_CONTACT_CFM=2,
BT_CONTACT_FLAG_HAS_CONTACT_ERP=4,
BT_CONTACT_FLAG_CONTACT_STIFFNESS_DAMPING = 8,
};
/// ManifoldContactPoint collects and maintains persistent contactpoints.
@@ -116,8 +117,18 @@ class btManifoldPoint
btScalar m_appliedImpulseLateral2;
btScalar m_contactMotion1;
btScalar m_contactMotion2;
btScalar m_contactCFM;
btScalar m_contactERP;
union
{
btScalar m_contactCFM;
btScalar m_combinedContactStiffness1;
};
union
{
btScalar m_contactERP;
btScalar m_combinedContactDamping1;
};
btScalar m_frictionCFM;