[core] Fix numerical instability of flexibility model by adding armature-like inertia parameter.#433

Merged

duburcqa merged 3 commits intodevfrom flex_impulse

Oct 29, 2021

+364-201

Commits on Oct 29, 2021

[core] Full support of armature for all joints but mimic.
Alexis Duburcq
committed
[core] Rename 'pncCollisionData' in 'collisionData' and 'pncModelRigidOrig_' in 'pncModelOrig_' since already clear.
Alexis Duburcq
committed
[core] Add armature-like flexibility inertia parameter to fix numerical stability issues.
Alexis Duburcq
committed