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friction anchors, arm64 premake #1030

Merged
merged 3 commits into from
Mar 20, 2017
Merged

friction anchors, arm64 premake #1030

merged 3 commits into from
Mar 20, 2017

Commits on Mar 16, 2017

  1. fix compile issue

    Erwin Coumans committed Mar 16, 2017
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Commits on Mar 18, 2017

  1. add premake4_arm64 that works on NVIDIA TX2

    Erwin Coumans (Google) committed Mar 18, 2017
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Commits on Mar 20, 2017

  1. fix issue with btMultiBody friction in combination with soft contacts… 

    … (friction should not re-use normal contact cfm/erp)

implement friction anchors, position friction correction, disabled by default. Use colObj->setCollisionFlag(flag | CF_HAS_FRICTION_ANCHOR); See test/RobotClientAPI/SlopeFrictionMain.cpp. In URDF or SDF, add <friction_anchor/> in <contact> section of <link> to enable.
PhysicsServer: properly restore old activation state after releasing picked object
btMultiBodyConstraintSolver: disable flip/flop of contact/friction constraint solving by default (it breaks some internal flaky unit tests)
    @erwincoumans
    erwincoumans committed Mar 20, 2017
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