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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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5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3664,6 +3664,11 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btMatrix3x3 childFrameBasis(childFrameOrn);
userConstraintPtr->m_mbConstraint->setFrameInB(childFrameBasis);
}
if (clientCmd.m_updateFlags & USER_CONSTRAINT_CHANGE_MAX_FORCE)
{
btScalar maxImp = clientCmd.m_userConstraintArguments.m_maxAppliedForce*m_data->m_physicsDeltaTime;
userConstraintPtr->m_mbConstraint->setMaxAppliedImpulse(maxImp);
}
}
if (userConstraintPtr->m_rbConstraint)
{