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PyBullet: expose internal edge utility, to adjust edge normals to prevent object penetrating along triangle edges of concave triangle meshes

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(due to local convex-triangle collisions causing opposite contact normals, use the pre-computed edge normal)
PyBullet: expose experimental continuous collision detection for maximal coordinate rigid bodies, to prevent tunneling.
This commit is contained in:
erwincoumans
2018-02-16 19:44:33 -08:00
parent d35941ebb8
commit ddf304ca78
9 changed files with 187 additions and 10 deletions
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5
examples/SharedMemory/PhysicsClientC_API.h
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@@ -125,6 +125,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHand
B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId,double angularDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex,double contactStiffness, double contactDamping);
B3_SHARED_API int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor);
B3_SHARED_API int b3ChangeDynamicsInfoSetCcdSweptSphereRadius(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, double ccdSweptSphereRadius);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info);
@@ -291,9 +292,7 @@ B3_SHARED_API int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle
B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle commandHandle, double restitutionVelocityThreshold);
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction);
B3_SHARED_API int b3PhysicsParameterSetDeterministicOverlappingPairs(b3SharedMemoryCommandHandle commandHandle, int deterministicOverlappingPairs);
B3_SHARED_API int b3PhysicsParameterSetAllowedCcdPenetration(b3SharedMemoryCommandHandle commandHandle, double allowedCcdPenetration);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);