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fix tab/space issue in Python file

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fix determinism issue introduced in previous commit
This commit is contained in:
Erwin Coumans
2018-08-26 17:17:42 -07:00
parent 6ab6cf0bdb
commit 186ddb81d8
2 changed files with 6 additions and 4 deletions
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8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2366,8 +2366,10 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback); m_data->m_pairCache->setOverlapFilterCallback(m_data->m_broadphaseCollisionFilterCallback);
int maxProxies = 32768; int maxProxies = 32768;
m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache); //m_data->m_broadphase = new btSimpleBroadphase(maxProxies, m_data->m_pairCache);
//m_data->m_broadphase = new btDbvtBroadphase(m_data->m_pairCache); btDbvtBroadphase* bv = new btDbvtBroadphase(m_data->m_pairCache);
bv->setVelocityPrediction(0);
m_data->m_broadphase = bv;
m_data->m_solver = new btMultiBodyConstraintSolver; m_data->m_solver = new btMultiBodyConstraintSolver;
@@ -2391,7 +2393,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001; m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50; m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0; m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
gDbvtMargin = btScalar(0.001);//1mm gDbvtMargin = btScalar(0);
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7; m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
// m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2; // m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;
//todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp) //todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp)

2
examples/pybullet/examples/saveRestoreState.py
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@@ -12,7 +12,7 @@ logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "saveRestoreTimings
def setupWorld(): def setupWorld():
p.resetSimulation() p.resetSimulation()
p.setPhysicsEngineParameter(deterministicOverlappingPairs=1) p.setPhysicsEngineParameter(deterministicOverlappingPairs=1)
p.loadURDF("planeMesh.urdf") p.loadURDF("planeMesh.urdf")
kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10]) kukaId = p.loadURDF("kuka_iiwa/model_free_base.urdf",[0,0,10])
for i in range (p.getNumJoints(kukaId)): for i in range (p.getNumJoints(kukaId)):