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[pybullet] expose collision filter mode and max constraint force:

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pybullet.changeUserConstraint(maxForce=<double>)
pybullet.setPhysicsEngineParameter(collisionFilterMode=<int>)
This commit is contained in:
Erwin Coumans
2017-01-16 18:17:18 -08:00
parent 93471a1c31
commit 12a391e1f9
5 changed files with 55 additions and 4 deletions
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25
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -347,6 +347,18 @@ int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHand
return 0;
}
int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_collisionFilterMode = filterMode;
command->m_updateFlags |= SIM_PARAM_UPDATE_COLLISION_FILTER_MODE;
return 0;
}
int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
@@ -1109,6 +1121,19 @@ int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHan
return 0;
}
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command);
b3Assert(command->m_type == CMD_USER_CONSTRAINT);
b3Assert(command->m_updateFlags & USER_CONSTRAINT_CHANGE_CONSTRAINT);
command->m_updateFlags |=USER_CONSTRAINT_CHANGE_MAX_FORCE;
command->m_userConstraintArguments.m_maxAppliedForce = maxAppliedForce;
return 0;
}
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId)
{