From 024ab6725be20887e34e73cf8d7358e29207ee58 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 5 Dec 2016 11:54:56 -0800
Subject: [PATCH] expose pybullet.setPhysicsEngineParameter(numSubSteps=int)

---
 examples/pybullet/pybullet.c | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index a3da3e942..21a4b7051 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -425,15 +425,16 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 	int numSolverIterations = -1;
 	int useSplitImpulse = -1;
 	double splitImpulsePenetrationThreshold = -1;
+	int numSubSteps = -1;
 
 	if (0 == sm) {
 		PyErr_SetString(SpamError, "Not connected to physics server.");
 		return NULL;
 	}
 
-	static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", NULL };
+	static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps", NULL };
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diid", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps))
 	{
 		return NULL;
 	}
@@ -445,6 +446,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
 		{
 			b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
 		}
+		if (numSubSteps >= 0)
+		{
+			b3PhysicsParamSetNumSubSteps(command, numSubSteps);
+		}
 		if (fixedTimeStep >= 0)
 		{
 			b3PhysicsParamSetTimeStep(command, fixedTimeStep);