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allow to set changeDynamics(body, link, contactProcessingThreshold) for multibodies

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(set to 0 if restitution is important)
This commit is contained in:
Erwin Coumans
2020-10-05 16:33:41 -07:00
parent e454b90c5b
commit 6b91ecc0c5
1 changed files with 10 additions and 0 deletions
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10
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9663,6 +9663,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
mb->getBaseCollider()->setAnisotropicFriction(anisotropicFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD)
{
mb->getBaseCollider()->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MAX_JOINT_VELOCITY)
{
mb->setMaxCoordinateVelocity(clientCmd.m_changeDynamicsInfoArgs.m_maxJointVelocity);
@@ -9821,6 +9826,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
mb->getLinkCollider(linkIndex)->setAnisotropicFriction(anisotropicFriction);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_CONTACT_PROCESSING_THRESHOLD)
{
mb->getLinkCollider(linkIndex)->setContactProcessingThreshold(clientCmd.m_changeDynamicsInfoArgs.m_contactProcessingThreshold);
}
}
}
}