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Add mjContact.solreffriction, mjModel.pair_solreffriction and related implementation, allowing contact reference acceleration to be different for normal and frictional contact directions. This is required for e.g. elastic frictional collisions.

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PiperOrigin-RevId: 538513357
Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
This commit is contained in:
Yuval Tassa
2023-06-07 09:39:28 -07:00
committed by Copybara-Service
parent 83e70954d7
commit d82f5ce5a4
19 changed files with 187 additions and 59 deletions
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include/mujoco/mjxmacro.h
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@@ -335,6 +335,7 @@
X ( int, pair_geom2, npair, 1 ) \
X ( int, pair_signature, npair, 1 ) \
X ( mjtNum, pair_solref, npair, mjNREF ) \
X ( mjtNum, pair_solreffriction, npair, mjNREF ) \
X ( mjtNum, pair_solimp, npair, mjNIMP ) \
X ( mjtNum, pair_margin, npair, 1 ) \
X ( mjtNum, pair_gap, npair, 1 ) \