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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/xml/xml_native_writer.cc
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@@ -443,6 +443,7 @@ void mjXWriter::OnePair(XMLElement* elem, mjCPair* ppair, mjCDef* def) {
WriteAttr(elem, "margin", 1, &ppair->margin, &def->pair.margin);
WriteAttr(elem, "gap", 1, &ppair->gap, &def->pair.gap);
WriteAttr(elem, "solref", mjNREF, ppair->solref, def->pair.solref);
WriteAttr(elem, "solreffriction", mjNREF, ppair->solreffriction, def->pair.solreffriction);
WriteAttr(elem, "solimp", mjNIMP, ppair->solimp, def->pair.solimp);
WriteAttr(elem, "friction", 5, ppair->friction, def->pair.friction);
}