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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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introspect/structs.py
+18 -3
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@@ -2397,14 +2397,21 @@ STRUCTS: Mapping[str, StructDecl] = dict([
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver reference: contact (npair x mjNREF)', # pylint: disable=line-too-long
doc='solver reference: contact normal (npair x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='pair_solreffriction',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='solver reference: contact friction (npair x mjNREF)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='pair_solimp',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint solver impedance: contact (npair x mjNIMP)', # pylint: disable=line-too-long
doc='solver impedance: contact (npair x mjNIMP)', # pylint: disable=line-too-long
),
StructFieldDecl(
name='pair_margin',
@@ -3279,7 +3286,15 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjtNum'),
extents=(2,),
),
doc='constraint solver reference',
doc='constraint solver reference, normal direction',
),
StructFieldDecl(
name='solreffriction',
type=ArrayType(
inner_type=ValueType(name='mjtNum'),
extents=(2,),
),
doc='constraint solver reference, friction directions',
),
StructFieldDecl(
name='solimp',