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
@@ -2931,6 +2931,7 @@ mjCPair::mjCPair(mjCModel* _model, mjCDef* _def) {

  condim = 3;
  mj_defaultSolRefImp(solref, solimp);
+  mju_zero(solreffriction, mjNREF);
  margin = 0;
  gap = 0;
  friction[0] = 1;