From 0b33d940e4caaf76b4a47aeef4d989ab2a71182e Mon Sep 17 00:00:00 2001
From: jackson-waschura <jwaschur@calpoly.edu>
Date: Sun, 8 Dec 2019 13:54:38 +0100
Subject: [PATCH] Actually use self collisions when specified

---
 examples/pybullet/pybullet.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 53b119478..ffffb4289 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2065,6 +2065,10 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 		{
 			b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping);
 		}
+		if (useSelfCollision)
+		{
+			b3LoadSoftBodySetSelfCollision(command, useSelfCollision);
+		}
 		b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff);
 		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 		statusType = b3GetStatusType(statusHandle);