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add <restitution> in <contact> settings of URDF/SDF

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allow 'useMaximalCoordinates' and 'useFixedBase' in pybullet.loadURDF.
enable split impulse for btRigidBody, even in btMultiBodyDynamicsWorld.
allow initialization of velocity and apply force for btRigidBody in pybullet/shared memory API.
process contact parameters in URDF also for btRigidBody (friction, restitution etc)
add pybullet.setPhysicsEngineParameter with numSolverIterations, useSplitImpulse etc.
This commit is contained in:
Erwin Coumans
2016-11-30 22:24:20 -08:00
parent a5eda81e47
commit 15cda75130
11 changed files with 354 additions and 57 deletions
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20
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -317,6 +317,26 @@ int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_useSplitImpulse = useSplitImpulse;
command->m_updateFlags |= SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE;
return 0;
}
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_splitImpulsePenetrationThreshold = splitImpulsePenetrationThreshold;
command->m_updateFlags |= SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;