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Merge pull request #979 from erwincoumans/master

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fix lack of collision scaling in pybullet URDF/SDF files (only graphi…
This commit is contained in:
erwincoumans
2017-03-02 08:18:11 -08:00
committed by GitHub
parent 1ba22c7c45 6a40c1cca7
commit 255b21a776
191 changed files with 842617 additions and 12 deletions
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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -48,6 +48,7 @@ bool gResetSimulation = 0;
int gVRTrackingObjectUniqueId = -1;
btTransform gVRTrackingObjectTr = btTransform::getIdentity();
int gMaxNumCmdPer1ms = 100;//experiment: add some delay to avoid threads starving other threads
int gCreateObjectSimVR = -1;
int gEnableKukaControl = 0;
btVector3 gVRTeleportPos1(0,0,0);
@@ -3162,6 +3163,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
{
gContactBreakingThreshold = clientCmd.m_physSimParamArgs.m_contactBreakingThreshold;
}
if (clientCmd.m_updateFlags&SIM_PARAM_MAX_CMD_PER_1MS)
{
gMaxNumCmdPer1ms = clientCmd.m_physSimParamArgs.m_maxNumCmdPer1ms;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_COLLISION_FILTER_MODE)
{
m_data->m_broadphaseCollisionFilterCallback->m_filterMode = clientCmd.m_physSimParamArgs.m_collisionFilterMode;