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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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Erwin Coumans
2017-02-17 10:48:03 -08:00
parent 34c3fca8d5 835dea5c3f
commit 2b27ab2463
43 changed files with 4021 additions and 71 deletions
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13
examples/pybullet/pybullet.c
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@@ -583,14 +583,15 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double splitImpulsePenetrationThreshold = -1;
int numSubSteps = -1;
int collisionFilterMode = -1;
double contactBreakingThreshold = -1;
b3PhysicsClientHandle sm = 0;
int physicsClientId = 0;
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "physicsClientId", NULL };
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", "numSubSteps","collisionFilterMode", "contactBreakingThreshold", "physicsClientId", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiii", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &physicsClientId))
{
return NULL;
}
@@ -610,6 +611,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (collisionFilterMode>=0)
{
b3PhysicsParamSetCollisionFilterMode(command, collisionFilterMode);
@@ -630,6 +632,11 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold);
}
if (contactBreakingThreshold>=0)
{
b3PhysicsParamSetContactBreakingThreshold(command,contactBreakingThreshold);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);