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allow to enable/disable implicit cylinder conversion through an API

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p.loadURDF("r2d2.urdf", flags=p.URDF_USE_IMPLICIT_CYLINDER)
allow to enable/disable deterministicOverlappingPairs through an API
p.setPhysicsEngineParameter(deterministicOverlappingPairs = False)
This commit is contained in:
erwincoumans
2018-01-09 10:10:36 -08:00
parent bf6d805228
commit e138e85bca
11 changed files with 85 additions and 47 deletions
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3
examples/Importers/ImportURDFDemo/URDF2Bullet.h
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@@ -13,7 +13,7 @@ class URDFImporterInterface;
class MultiBodyCreationInterface;
//manually sync with eURDF_Flags in SharedMemoryPublic.h!
enum ConvertURDFFlags {
CUF_USE_SDF = 1,
// Use inertia values in URDF instead of recomputing them from collision shape.
@@ -23,6 +23,7 @@ enum ConvertURDFFlags {
CUF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
CUF_RESERVED=64,
CUF_USE_IMPLICIT_CYLINDER=128,
};
void ConvertURDF2Bullet(const URDFImporterInterface& u2b,