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add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit)

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add door.urdf for testing damping/friction
This commit is contained in:
erwincoumans
2016-03-17 14:54:46 -07:00
parent 937b6d84e5
commit fe92de3e50
15 changed files with 1005 additions and 874 deletions
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2
examples/SharedMemory/BodyJointInfoUtility.h
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@@ -57,6 +57,8 @@ template <typename T, typename U> void addJointInfoFromMultiBodyData(const T* mb
}
info.m_jointType = mb->m_links[link].m_jointType;
info.m_jointDamping = mb->m_links[link].m_jointDamping;
info.m_jointFriction = mb->m_links[link].m_jointFriction;
if ((mb->m_links[link].m_jointType == eRevoluteType) ||
(mb->m_links[link].m_jointType == ePrismaticType)) {

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -85,6 +85,8 @@ struct b3JointInfo
int m_uIndex;
int m_jointIndex;
int m_flags;
double m_jointDamping;
double m_jointFriction;
};
struct b3JointSensorState