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expose choice of contraint solver in PyBullet, with switchConstraintSolver example

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This commit is contained in:
Erwin Coumans
2018-08-23 23:04:17 -07:00
parent d44571a4b3
commit 61b7591b8e
12 changed files with 164 additions and 12 deletions
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10
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -620,6 +620,16 @@ B3_SHARED_API int b3PhysicsParameterSetEnableSAT(b3SharedMemoryCommandHandle com
return 0;
}
B3_SHARED_API int b3PhysicsParameterSetConstraintSolverType(b3SharedMemoryCommandHandle commandHandle, int constraintSolverType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_constraintSolverType = constraintSolverType;
command->m_updateFlags |= SIM_PARAM_CONSTRAINT_SOLVER_TYPE;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;