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expose some sleep timeout pybullet.setPhysicsEngineParameter(maxNumCmdPer1ms=100) or b3PhysicsParamSetMaxNumCommandsPer1ms,

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if more commands than those are processed per millisecond, a 1ms sleep will follow, to avoid other threads being stalled.
This commit is contained in:
Erwin Coumans
2017-03-01 13:48:57 -08:00
parent ac28f50fa5
commit 2f3ba49357
7 changed files with 50 additions and 9 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -347,6 +347,16 @@ int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryCommandHandle comman
command->m_updateFlags |= SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD;
return 0;
}
int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_maxNumCmdPer1ms = maxNumCmdPer1ms;
command->m_updateFlags |= SIM_PARAM_MAX_CMD_PER_1MS;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{