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Merge pull request #3331 from erwincoumans/master

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add performCollisionDetection (stepSimulation also calls this, but do…
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erwincoumans
2021-04-05 12:54:39 -07:00
committed by GitHub
parent 93be7e6440 8b8c1af6a4
commit 2c3318f86d
183 changed files with 28071 additions and 44 deletions
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examples/SharedMemory/SharedMemoryCommands.h
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@@ -465,6 +465,8 @@ struct SendDesiredStateArgs
//or the maximum applied force/torque for the PD/motor/constraint to reach the desired velocity in CONTROL_MODE_VELOCITY and CONTROL_MODE_POSITION_VELOCITY_PD mode
//indexed by degree of freedom, 6 dof base, and then dofs for each link
double m_desiredStateForceTorque[MAX_DEGREE_OF_FREEDOM];
double m_damping[MAX_DEGREE_OF_FREEDOM];
};
enum EnumSimDesiredStateUpdateFlags
@@ -475,6 +477,7 @@ enum EnumSimDesiredStateUpdateFlags
SIM_DESIRED_STATE_HAS_KP = 8,
SIM_DESIRED_STATE_HAS_MAX_FORCE = 16,
SIM_DESIRED_STATE_HAS_RHS_CLAMP = 32,
SIM_DESIRED_STATE_HAS_DAMPING = 64,
};
enum EnumSimParamUpdateFlags