Friction coeff

[limbryan]

Hi,

I am trying to change the friction between a walking quadruped and and the floor created. I have searched quite extensively for how to do this but have not found the exact way of doing it. I am currently getting the skeleton and Bdoy Node of the ground and setting the friction using setFrictionCoeff and likewise getting the skeleton and Body node of my robot and setting that friction as well. Is this the only way of doing it? Also, i notice the values here refer to the maximum tangential force and not really the friction coefficient that is commonly used that lies between 0 and 1. Is there a way to do this? Thanks