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.

PiperOrigin-RevId: 538513357 Change-Id: Id9eb910fe791cf898c712030cb2c0fc481389c91
2023-06-07 09:39:28 -07:00
parent 83e70954d7
commit d82f5ce5a4
19 changed files with 187 additions and 59 deletions
@@ -503,6 +503,7 @@ class MjWrapper<raw::MjContact> : public WrapperBase<raw::MjContact> {
  X(frame);
  X(friction);
  X(solref);
+  X(solreffriction);
  X(solimp);
  X(H);
  #undef X