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sync interpolationTransform for multibody in integrateTransform; revert changes to voxel size in sparseSDF

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This commit is contained in:
Xuchen Han
2019-08-21 16:03:54 -07:00
parent 076c8b11df
commit f33532273a
2 changed files with 3 additions and 1 deletions
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2
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -2142,6 +2142,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
getBaseCollider()->setWorldTransform(tr); getBaseCollider()->setWorldTransform(tr);
getBaseCollider()->setInterpolationWorldTransform(tr);
} }
for (int k = 0; k < getNumLinks(); k++) for (int k = 0; k < getNumLinks(); k++)
@@ -2170,6 +2171,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu
tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3])); tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
col->setWorldTransform(tr); col->setWorldTransform(tr);
col->setInterpolationWorldTransform(tr);
} }
} }
} }

2
src/BulletSoftBody/btSparseSDF.h
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@@ -103,7 +103,7 @@ struct btSparseSdf
pc = pn; pc = pn;
} }
} }
voxelsz = 0.025; voxelsz = 0.25;
puid = 0; puid = 0;
ncells = 0; ncells = 0;
nprobes = 1; nprobes = 1;