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Heterogeneous friction with FreeMotionAnimationLoop #2852

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Hi all,

I found a solution that works with GenericConstraintSolver without changing the source code of SOFA. Once I found out that responseParams are essentially added to the response string with a question mark as a separator, I realised it could be added that way as a rule as well. Say, we have two objects, one slippery and the other one rough. We can specify low mu around 0.001 as the default response param and then add a rule * 2 FrictionContact?mu=1.5, in which 2 stands for the group id of the object's collision model. I tested it in SOFA 19.12 and it seems to work fine.

Regards,
Vlad

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