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Merge pull request #886 from erwincoumans/master

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some VR tweaks and bugfix for issue #878
This commit is contained in:
erwincoumans
2016-12-11 12:53:47 -08:00
committed by GitHub
parent e8f38df121 436fdd5dc2
commit 0c26fee04d
14 changed files with 178 additions and 91 deletions
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10
examples/pybullet/pybullet.c
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@@ -432,7 +432,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
return NULL;
}
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold","numSubSteps", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps))
{
@@ -446,6 +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);
@@ -458,10 +462,6 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold);
}
if (numSubSteps>=0)
{
b3PhysicsParamSetNumSubSteps(command,numSubSteps);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);