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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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src/user/user_objects.h
+2 -1
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@@ -772,7 +772,8 @@ class mjCPair : public mjCBase {
// optional parameters: computed from geoms if not set by user
int condim; // contact dimensionality
mjtNum solref[mjNREF]; // solver reference
mjtNum solref[mjNREF]; // solver reference, normal direction
mjtNum solreffriction[mjNREF]; // solver reference, frictional directions
mjtNum solimp[mjNIMP]; // solver impedance
double margin; // margin for contact detection
double gap; // include in solver if dist<margin-gap