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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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6
examples/SharedMemory/SharedMemoryCommands.h
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@@ -287,7 +287,9 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32,
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64,
SIM_PARAM_UPDATE_USE_SPLIT_IMPULSE=128,
SIM_PARAM_UPDATE_SPLIT_IMPULSE_PENETRATION_THRESHOLD = 256,
};
enum EnumLoadBunnyUpdateFlags
@@ -312,6 +314,8 @@ struct SendPhysicsSimulationParameters
int m_numSimulationSubSteps;
int m_numSolverIterations;
bool m_allowRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
int m_internalSimFlags;
double m_defaultContactERP;
};