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debug pybullet setup

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This commit is contained in:
jyc-n
2021-12-01 22:39:23 -05:00
parent 96605f7a8c
commit a018d63fb3
3 changed files with 32 additions and 10 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+9 -1
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@@ -9216,6 +9216,10 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
psb->setGravityFactor(deformable.m_gravFactor);
psb->setCacheBarycenter(deformable.m_cache_barycenter);
psb->initializeFaceTree();
deformWorld->setImplicit(true);
deformWorld->setLineSearch(false);
deformWorld->setUseProjection(true);
}
#endif //SKIP_DEFORMABLE_BODY
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -9646,7 +9650,6 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
// collion between deformable and deformable and self-collision
// rsb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
rsb->setCollisionFlags(0);
rsb->setTotalMass(reduced_deformable.m_mass);
rsb->setSelfCollision(useSelfCollision);
rsb->initializeFaceTree();
}
@@ -9681,6 +9684,11 @@ bool PhysicsServerCommandProcessor::processReducedDeformable(const UrdfReducedDe
deformWorld->addSoftBody(rsb);
deformWorld->getSolverInfo().m_deformable_erp = reduced_deformable.m_erp;
deformWorld->getSolverInfo().m_deformable_cfm = reduced_deformable.m_cfm;
deformWorld->getSolverInfo().m_friction = reduced_deformable.m_friction;
deformWorld->getSolverInfo().m_splitImpulse = false;
deformWorld->setImplicit(false);
deformWorld->setLineSearch(false);
deformWorld->setUseProjection(false);
}
else
#endif //SKIP_DEFORMABLE_BODY