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change reduced deformable example set up in pybullet

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This commit is contained in:
Jingyu Chen
2021-12-09 14:21:03 -05:00
parent 578523eab4
commit 1feb81463a
3 changed files with 14 additions and 5 deletions
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9
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2791,7 +2791,14 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2; //need to check if there are artifacts with frictionERP
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
if (flags & RESET_USE_REDUCED_DEFORMABLE_WORLD)
{
m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 128;
}
else
{
m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 0;
}
m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = 0.1;
gDbvtMargin = btScalar(0);
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;