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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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8
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -132,8 +132,10 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
const char* m_linkName;//m_linkName memory needs to be managed by the developer/user!
const char* m_jointName;//m_jointName memory needs to be managed by the developer/user!
btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
// ctor: set some sensible defaults
// ctor: set some sensible defaults
btMultibodyLink()
: m_mass(1),
m_parent(-1),
@@ -146,7 +148,9 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_jointType(btMultibodyLink::eInvalid),
m_jointFeedback(0),
m_linkName(0),
m_jointName(0)
m_jointName(0),
m_jointDamping(0),
m_jointFriction(0)
{
m_inertiaLocal.setValue(1, 1, 1);