Bug: soft body collisions are not thread safe

[samojordan]

We are using a modified version of the multithreaded dispatcher (btCollisionDispatcherMt) to distribute near-collisions over two threads. We observed thread safety issues and tracked them down to softbody collision algorithms not being thread safe. More precisely we have observed both threads accessing

btSoftBody::m_rcontacts

concurrently. Other containers just next to m_rcontacts are probably also affected.

We have resolved this issue in our modified version of bullet by adding an exception to compute near collisions for soft body objects only with one single thread.

[zhaohe6]

Hello，I'm a novice at pubullet.I have been struggling with how to load a soft body in pybullet env.When i tried to load a soft body the pybullet will tell me thet "can not load a soft body".So i hope you can tell me how to load a soft body. I used vtk file to display a soft body. If you can give me a correct soft body file,i will appreciate it very much.Here is my code:

soft_body_id = p.loadSoftBody("./ur5e/output.vtk", basePosition = [0.7,0,0])