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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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4
examples/SharedMemory/SharedMemoryCommands.h
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@@ -159,7 +159,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
CHANGE_DYNAMICS_INFO_SET_LOCAL_INERTIA_DIAGONAL = 1024,
CHANGE_DYNAMICS_INFO_SET_CCD_SWEPT_SPHERE_RADIUS = 2048,
};
struct ChangeDynamicsInfoArgs
@@ -178,6 +178,7 @@ struct ChangeDynamicsInfoArgs
double m_contactDamping;
double m_localInertiaDiagonal[3];
int m_frictionAnchor;
double m_ccdSweptSphereRadius;
};
struct GetDynamicsInfoArgs
@@ -438,6 +439,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
};
enum EnumLoadSoftBodyUpdateFlags