search

ihmcrobotics / simulation-construction-set-2

Graphical user interface for visualizing control variables from either a server, a log file, or a simulation.
Apache License 2.0
12 stars 0 forks source link

RigidBodyDefinition missing friction parameter #143

Open calvertdw opened 7 months ago

calvertdw commented 7 months ago

For the simulation of the Door, I need the bolt to be slippery, and the only way to set the friction (I think) is by casting to the physics engine specific classes and setting the friction parameter manually. For example:

BulletPhysicsEngine bulletPhysicsEngine = (BulletPhysicsEngine) simulationSession.getPhysicsEngine();

bulletRobot = bulletPhysicsEngine.getBulletRobots().get(0);

// The bolt should be slippery
BulletMultiBodyLinkCollider boltLinkCollider = bulletRobot.getBulletMultiBodyRobot().getBulletMultiBodyLinkCollider(3);
boltLinkCollider.setFriction(0.001);