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Enable 'global absolute velocities' by default for btMultiBody. See 8.3.2B Proposed resolution Jakub Stepien PhD Thesis

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https://drive.google.com/file/d/0Bz3vEa19XOYGNWdZWGpMdUdqVmZ5ZVBOaEh4ZnpNaUxxZFNV/view?usp=sharing
Fixes crashes due to rendering of softbody wireframe in the wrong thread (needs to be in 'debug' rendering section)
Use btCapsuleShapeZ instead of btMultiSphereShape when converting MJCF MuJoCo capsules using fromto
This commit is contained in:
erwincoumans
2018-01-09 22:47:56 -08:00
parent 164d3e62c3
commit c4b1b84687
16 changed files with 779 additions and 666 deletions
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3
examples/SharedMemory/SharedMemoryPublic.h
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@@ -189,6 +189,8 @@ enum EnumSharedMemoryServerStatus
CMD_RESTORE_STATE_COMPLETED,
CMD_COLLISION_SHAPE_INFO_COMPLETED,
CMD_COLLISION_SHAPE_INFO_FAILED,
CMD_LOAD_SOFT_BODY_FAILED,
CMD_LOAD_SOFT_BODY_COMPLETED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -671,6 +673,7 @@ enum eURDF_Flags
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
URDF_RESERVED=64,
URDF_USE_IMPLICIT_CYLINDER =128,
URDF_NO_GLOBAL_VELOCITIES_MB =256,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes