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[Bullet] Demo Test without wheel_slip_plugin #207

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[Bullet] Demo Test without wheel_slip_plugin #207

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34ba3f6
added mu2 usage
Lobotuerk Jan 26, 2021
763d638
backup
Lobotuerk Feb 17, 2021
9236e07
backup
Lobotuerk Feb 18, 2021
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10 changes: 9 additions & 1 deletion bullet/src/JointFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ double JointFeatures::GetJointPosition(
if (this->joints.find(_id.id) != this->joints.end())
{
const JointInfoPtr &jointInfo = this->joints.at(_id.id);
// igndbg << "Child: " << jointInfo->childLinkId << " Father: " << jointInfo->parentLinkId << std::endl;
const int jointType = jointInfo->constraintType;
// Check the type of joint and act accordignly
if (jointInfo->constraintType ==
Expand All @@ -54,7 +55,14 @@ double JointFeatures::GetJointPosition(
ignerr << "Not a valid constrating type: " << jointType << "\n";
}
}
igndbg << "Position: " << _id.id << " -> " << result << std::endl;
// igndbg << "Position: " << _id.id << " -> " << result << std::endl;
// const JointInfoPtr &jointInfo = this->joints.at(_id.id);
// btTransform transP, transC;
// this->links.at(jointInfo->parentLinkId)->link->getMotionState()->getWorldTransform(transP);
// this->links.at(jointInfo->childLinkId)->link->getMotionState()->getWorldTransform(transC);
// btScalar x, y, z;
// (transP.inverse() * transC).getRotation().getEulerZYX(z,y,x);
// igndbg << "TF: " << y << std::endl;
return result;
}

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5 changes: 3 additions & 2 deletions bullet/src/SDFFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -238,6 +238,7 @@ Identity SDFFeatures::ConstructSdfCollision(
const auto &odeFriction = surfaceElement->GetElement("friction")
->GetElement("ode");
const auto mu = odeFriction->Get<btScalar>("mu");
const auto mu2 = odeFriction->Get<btScalar>("mu2");

// Get restitution
// const auto restitution = surfaceElement->GetElement("bounce")
Expand All @@ -263,8 +264,8 @@ Identity SDFFeatures::ConstructSdfCollision(

// shape->setMargin(btScalar(0.0001));

body->setFriction(mu * 10);
body->setAnisotropicFriction(btVector3(1, 1, 1),
body->setFriction(1);
body->setAnisotropicFriction(btVector3(mu, mu2, 1),
btCollisionObject::CF_ANISOTROPIC_FRICTION);

dynamic_cast<btCompoundShape *>(body->getCollisionShape())->addChildShape(baseTransform, shape);
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