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Plumb the configured substep count into GpuMultibodySet #25

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Plumb the configured substep count into GpuMultibodySet #25

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1 change: 1 addition & 0 deletions src_rbd/pipeline/insertion_removal.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,7 @@ impl RbdState {
[0.0, -9.81, 0.0],
capacity_per_batch,
);
mb.set_num_solver_iterations(all_sim_params[0].num_solver_iterations);
mb.set_constraint_softness(backend, &all_sim_params[0]);
mb
};
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2 changes: 2 additions & 0 deletions src_rbd/pipeline/rbd_state_from_rapier.rs
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Expand Up @@ -437,6 +437,8 @@ impl RbdState {
[0.0, -9.81, 0.0],
max_colliders as u32,
);
// Must be set before `set_visible_dt` derives the substep dt.
mb.set_num_solver_iterations(num_solver_iterations);
mb.set_visible_dt(backend, multibody_dt);
// Soft contact coefficients (rapier TGS-soft) from the substep sim
// params, so multibody-vs-floor contacts use the same soft ERP + CFM
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