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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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src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -299,7 +299,7 @@ btScalar btMultiBodyConstraint::fillMultiBodyConstraint( btMultiBodySolverConstr
//compute rhs and remaining solverConstraint fields
btScalar penetration = isFriction? 0 : posError+infoGlobal.m_linearSlop;
btScalar penetration = isFriction? 0 : posError;
btScalar rel_vel = 0.f;
int ndofA = 0;