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pybullet.changeDynamicsInfo/b3ChangeDynamicsInfoSetContactStiffnessAndDamping expose contactStiffness/contactDamping

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This commit is contained in:
Erwin Coumans
2017-06-07 08:37:42 -07:00
parent 877e2cf9f9
commit 0c3a3cc466
5 changed files with 41 additions and 4 deletions
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13
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -4345,6 +4345,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
{
mb->getBaseCollider()->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
{
mb->getBaseCollider()->setFriction(lateralFriction);
@@ -4392,6 +4396,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
{
mb->getLinkCollider(linkIndex)->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
}
}
@@ -4422,6 +4431,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
body->m_rigidBody->setDamping(linDamping, clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING)
{
body->m_rigidBody->setContactStiffnessAndDamping(clientCmd.m_changeDynamicsInfoArgs.m_contactStiffness, clientCmd.m_changeDynamicsInfoArgs.m_contactDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
{
body->m_rigidBody->setRestitution(restitution);