mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-15 14:10:11 +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" ?>
|
|
<robot name="cube.urdf">
|
|
<link name="baseLink">
|
|
<contact>
|
|
<friction_anchor/>
|
|
<lateral_friction value="1.3"/>
|
|
<rolling_friction value="0.0"/>
|
|
<stiffness value="300"/>
|
|
<damping value="10"/>
|
|
</contact>
|
|
<inertial>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<mass value="1.0"/>
|
|
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
|
</inertial>
|
|
<visual>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<mesh filename="cube.obj" scale="1 1 1"/>
|
|
</geometry>
|
|
<material name="white">
|
|
<color rgba="1 1 1 1"/>
|
|
</material>
|
|
</visual>
|
|
<collision>
|
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
<geometry>
|
|
<box size="1 1 1"/>
|
|
</geometry>
|
|
</collision>
|
|
</link>
|
|
</robot>
|
|
|