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report constraint solver analytics data, currently for each island the number of solver iterations used and remaining residual error.

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erwincoumans
2019-04-11 22:19:02 -07:00
parent 3146f6276b
commit 5ff52e47d9
11 changed files with 144 additions and 9 deletions
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22
examples/pybullet/pybullet.c
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@@ -330,6 +330,28 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
statusHandle = b3SubmitClientCommandAndWaitStatus(
sm, b3InitStepSimulationCommand(sm));
statusType = b3GetStatusType(statusHandle);
if (statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED)
{
struct b3ForwardDynamicsAnalyticsArgs analyticsData;
int numIslands = 0;
int i;
numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData);
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
for (i=0;i<numIslands;i++)
{
int numFields = 4;
PyObject* pyIslandData = PyTuple_New(numFields);
PyTuple_SetItem(pyIslandData, 0, PyLong_FromLong(analyticsData.m_islandData[i].m_islandId));
PyTuple_SetItem(pyIslandData, 1, PyLong_FromLong(analyticsData.m_islandData[i].m_numBodies));
PyTuple_SetItem(pyIslandData, 2, PyLong_FromLong(analyticsData.m_islandData[i].m_numIterationsUsed));
PyTuple_SetItem(pyIslandData, 3, PyFloat_FromDouble(analyticsData.m_islandData[i].m_remainingLeastSquaresResidual));
PyTuple_SetItem(pyAnalyticsData, i, pyIslandData);
}
return pyAnalyticsData;
}
}
}