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expose pybullet changeDynamics(spinningFriction=..., rollingFriction=..., restitution=...)

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Bullet C-API b3ChangeDynamicsInfoSetSpinningFriction/RollingFriction/Resitution
b3PhysicsParamSetRestitutionVelocityThreshold, / pybullet.setPhysicsEngineParameter restitutionVelocityThreshold:
if the velocity is below this threshhold, the restitution is zero (this prevents energy buildup at near-resting state)
pybullet restitution.py example.
This commit is contained in:
Erwin Coumans
2017-05-26 18:14:38 -07:00
parent 8c6d4a4c85
commit b645963879
12 changed files with 317 additions and 51 deletions
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9
examples/SharedMemory/SharedMemoryCommands.h
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@@ -114,6 +114,9 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_MASS=1,
CHANGE_DYNAMICS_INFO_SET_COM=2,
CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION=4,
CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION=8,
CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION=16,
CHANGE_DYNAMICS_INFO_SET_RESTITUTION=32,
};
struct ChangeDynamicsInfoArgs
@@ -123,6 +126,9 @@ struct ChangeDynamicsInfoArgs
double m_mass;
double m_COM[3];
double m_lateralFriction;
double m_spinningFriction;
double m_rollingFriction;
double m_restitution;
};
struct GetDynamicsInfoArgs
@@ -354,6 +360,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD = 1024,
SIM_PARAM_MAX_CMD_PER_1MS = 2048,
SIM_PARAM_ENABLE_FILE_CACHING = 4096,
SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
};
@@ -387,6 +395,7 @@ struct SendPhysicsSimulationParameters
double m_defaultContactERP;
int m_collisionFilterMode;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
};
struct LoadBunnyArgs