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revert the default world to SOFT_MULTIBODY_WORLD

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This commit is contained in:
Xuchen Han
2019-11-20 23:47:15 -08:00
parent edffb0cc55
commit fa7cb25c95
7 changed files with 18 additions and 17 deletions
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24
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2651,24 +2651,24 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
m_data->m_broadphase = bv; m_data->m_broadphase = bv;
} }
if (flags & RESET_USE_SOFT_MULTIBODY_WORLD) if (flags & RESET_USE_DEFORMABLE_WORLD)
{ {
m_data->m_solver = new btMultiBodyConstraintSolver; #ifndef SKIP_DEFORMABLE_BODY
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD m_data->m_deformablebodySolver = new btDeformableBodySolver();
m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver;
#else m_data->m_solver = solver;
m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration); solver->setDeformableSolver(m_data->m_deformablebodySolver);
m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
#endif #endif
} }
if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD))) if ((0==m_data->m_dynamicsWorld) && (0==(flags&RESET_USE_DISCRETE_DYNAMICS_WORLD)))
{ {
#ifndef SKIP_DEFORMABLE_BODY m_data->m_solver = new btMultiBodyConstraintSolver;
m_data->m_deformablebodySolver = new btDeformableBodySolver(); #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
btDeformableMultiBodyConstraintSolver* solver = new btDeformableMultiBodyConstraintSolver; m_data->m_dynamicsWorld = new btSoftMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
m_data->m_solver = solver; #else
solver->setDeformableSolver(m_data->m_deformablebodySolver); m_data->m_dynamicsWorld = new btMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, m_data->m_solver, m_data->m_collisionConfiguration);
m_data->m_dynamicsWorld = new btDeformableMultiBodyDynamicsWorld(m_data->m_dispatcher, m_data->m_broadphase, solver, m_data->m_collisionConfiguration, m_data->m_deformablebodySolver);
#endif #endif
} }

2
examples/SharedMemory/SharedMemoryPublic.h
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@@ -567,7 +567,7 @@ enum b3NotificationType
enum b3ResetSimulationFlags enum b3ResetSimulationFlags
{ {
RESET_USE_SOFT_MULTIBODY_WORLD=1, RESET_USE_DEFORMABLE_WORLD=1,
RESET_USE_DISCRETE_DYNAMICS_WORLD=2, RESET_USE_DISCRETE_DYNAMICS_WORLD=2,
RESET_USE_SIMPLE_BROADPHASE=4, RESET_USE_SIMPLE_BROADPHASE=4,
}; };

2
examples/pybullet/examples/deformable_anchor.py
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@@ -2,8 +2,8 @@ import pybullet as p
from time import sleep from time import sleep
physicsClient = p.connect(p.GUI) physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
#p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
gravZ=-10 gravZ=-10
p.setGravity(0, 0, gravZ) p.setGravity(0, 0, gravZ)

2
examples/pybullet/examples/deformable_ball.py
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@@ -3,7 +3,7 @@ from time import sleep
physicsClient = p.connect(p.GUI) physicsClient = p.connect(p.GUI)
#p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD) p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -10) p.setGravity(0, 0, -10)

2
examples/pybullet/examples/deformable_torus.py
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@@ -3,6 +3,8 @@ from time import sleep
physicsClient = p.connect(p.GUI) physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
p.setGravity(0, 0, -10) p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf", [0,0,-2]) planeId = p.loadURDF("plane.urdf", [0,0,-2])

1
examples/pybullet/examples/load_soft_body.py
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@@ -2,7 +2,6 @@ import pybullet as p
from time import sleep from time import sleep
physicsClient = p.connect(p.GUI) physicsClient = p.connect(p.GUI)
p.resetSimulation(p.RESET_USE_SOFT_MULTIBODY_WORLD)
p.setGravity(0, 0, -10) p.setGravity(0, 0, -10)
planeId = p.loadURDF("plane.urdf", [0,0,-2]) planeId = p.loadURDF("plane.urdf", [0,0,-2])
boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True) boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)

2
examples/pybullet/pybullet.c
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@@ -12466,7 +12466,7 @@ initpybullet(void)
//PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_NNCF",eConstraintSolverLCP_NNCG); //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_NNCF",eConstraintSolverLCP_NNCG);
//PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS); //PyModule_AddIntConstant(m, "CONSTRAINT_SOLVER_LCP_BLOCK",eConstraintSolverLCP_BLOCK_PGS);
PyModule_AddIntConstant(m, "RESET_USE_SOFT_MULTIBODY_WORLD", RESET_USE_SOFT_MULTIBODY_WORLD); PyModule_AddIntConstant(m, "RESET_USE_DEFORMABLE_WORLD", RESET_USE_DEFORMABLE_WORLD);
PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD); PyModule_AddIntConstant(m, "RESET_USE_DISCRETE_DYNAMICS_WORLD", RESET_USE_DISCRETE_DYNAMICS_WORLD);
PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE); PyModule_AddIntConstant(m, "RESET_USE_SIMPLE_BROADPHASE", RESET_USE_SIMPLE_BROADPHASE);