Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.h
View File

@@ -86,7 +86,7 @@ protected:
unsigned long m_btSeed2;
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution);
btScalar restitutionCurve(btScalar rel_vel, btScalar restitution, btScalar velocityThreshold);
virtual void convertContacts(btPersistentManifold** manifoldPtr, int numManifolds, const btContactSolverInfo& infoGlobal);