Allow customization of contact surface properties#267

Merged

azeey merged 16 commits intogazebosim:ign-physics2from peci1:contact-velocity

Oct 28, 2021

+713-50

Commits on Oct 6, 2021

Added implementation of contact surface velocity.

peci1
authored and
azeey
committed
Fixed codecheck issues.

peci1
authored and
azeey
committed
Fixed issues from review.

peci1
authored and
azeey
committed
Exchanged CompositeData for a struct to improve performance.

peci1
authored and
azeey
committed
Codecheck

peci1
authored and
azeey
committed
Updated with latest DART changes

peci1
authored and
azeey
committed
Fixed bugs from review

peci1
authored and
azeey
committed

Commits on Oct 11, 2021

Detect if contact constraint customization is available
azeey
committed

Commits on Oct 24, 2021

Fixed CMake for finding whether DART supports contact surface customization.
peci1
committed

Commits on Oct 26, 2021

Renamed normalRolling friction to torsional friction.
peci1
committed

Commits on Oct 28, 2021