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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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unity/Runtime/Bindings/MjBindings.cs
+2
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@@ -524,6 +524,7 @@ public unsafe struct mjContact_ {
public double includemargin;
public fixed double friction[5];
public fixed double solref[2];
public fixed double solreffriction[2];
public fixed double solimp[5];
public double mu;
public fixed double H[36];
@@ -2130,6 +2131,7 @@ public unsafe struct mjModel_ {
public int* pair_geom2;
public int* pair_signature;
public double* pair_solref;
public double* pair_solreffriction;
public double* pair_solimp;
public double* pair_margin;
public double* pair_gap;