mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
0b017b0f53
implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable. PhysicsServer: properly restore old activation state after releasing picked object btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
34 lines
806 B
XML
34 lines
806 B
XML
<?xml version="0.0" ?>
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<robot name="cube.urdf">
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<link name="baseLink">
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<contact>
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<friction_anchor/>
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<lateral_friction value="1.3"/>
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<rolling_friction value="0.0"/>
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<stiffness value="300"/>
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<damping value="10"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="1.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale="1 1 1"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size="1 1 1"/>
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</geometry>
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</collision>
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</link>
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</robot>
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