chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 10 Packages Projects Releases Wiki Activity

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.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_reader.cc
+5 -3
View File
@@ -153,7 +153,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
"axisangle", "xyaxes", "zaxis", "euler", "mode", "user"},
{"light", "?", "12", "pos", "dir", "directional", "castshadow", "active",
"attenuation", "cutoff", "exponent", "ambient", "diffuse", "specular", "mode"},
{"pair", "?", "6", "condim", "friction", "solref", "solimp", "gap", "margin"},
{"pair", "?", "7", "condim", "friction", "solref", "solreffriction", "solimp",
"gap", "margin"},
{"equality", "?", "3", "active", "solref", "solimp"},
{"tendon", "?", "16", "group", "limited", "range",
"solreflimit", "solimplimit", "solreffriction", "solimpfriction",
@@ -283,8 +284,8 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
{"contact", "*", "0"},
{"<"},
{"pair", "*", "10", "name", "class", "geom1", "geom2", "condim", "friction",
"solref", "solimp", "gap", "margin"},
{"pair", "*", "11", "name", "class", "geom1", "geom2", "condim", "friction",
"solref", "solreffriction", "solimp", "gap", "margin"},
{"exclude", "*", "3", "name", "body1", "body2"},
{">"},
@@ -1495,6 +1496,7 @@ void mjXReader::OnePair(XMLElement* elem, mjCPair* ppair) {
ReadAttrTxt(elem, "name", ppair->name);
ReadAttrInt(elem, "condim", &ppair->condim);
ReadAttr(elem, "solref", mjNREF, ppair->solref, text, false, false);
ReadAttr(elem, "solreffriction", mjNREF, ppair->solreffriction, text, false, false);
ReadAttr(elem, "solimp", mjNIMP, ppair->solimp, text, false, false);
ReadAttr(elem, "margin", 1, &ppair->margin, text);
ReadAttr(elem, "gap", 1, &ppair->gap, text);