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Expose CFM parameters in PhysicsClient.

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Add b3PhysicsParamSetDefaultGlobalCFM() and
b3PhysicsParamSetDefaultFrictionCFM().
This commit is contained in:
Yuchen Wu
2018-05-16 13:46:19 -07:00
parent 653f592ddc
commit f03ae5a857
5 changed files with 35 additions and 2 deletions
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11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6735,7 +6735,16 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm = clientCmd.m_physSimParamArgs.m_defaultGlobalCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
{