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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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6
examples/SharedMemory/PhysicsClientC_API.h
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@@ -77,6 +77,8 @@ int b3GetStatusUserConstraintUniqueId(b3SharedMemoryStatusHandle statusHandle);
b3SharedMemoryCommandHandle b3InitChangeUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
int b3InitChangeUserConstraintSetPivotInB(b3SharedMemoryCommandHandle commandHandle, double jointChildPivot[3]);
int b3InitChangeUserConstraintSetFrameInB(b3SharedMemoryCommandHandle commandHandle, double jointChildFrameOrn[4]);
int b3InitChangeUserConstraintSetMaxForce(b3SharedMemoryCommandHandle commandHandle, double maxAppliedForce);
b3SharedMemoryCommandHandle b3InitRemoveUserConstraintCommand(b3PhysicsClientHandle physClient, int userConstraintUniqueId);
@@ -170,6 +172,10 @@ int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);