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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/SharedMemory/SharedMemoryPublic.h
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@@ -670,7 +670,7 @@ enum eURDF_Flags
URDF_USE_SELF_COLLISION_EXCLUDE_PARENT=16,
URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS=32,
URDF_RESERVED=64,
URDF_USE_IMPLICIT_CYLINDER =128,
};
enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
@@ -733,6 +733,7 @@ struct b3PhysicsSimulationParameters
double m_defaultNonContactERP;
double m_frictionERP;
int m_enableConeFriction;
int m_deterministicOverlappingPairs;
};