expose choice of contraint solver in PyBullet, with switchConstraintSolver example

2018-08-23 23:04:17 -07:00
parent d44571a4b3
commit 61b7591b8e
12 changed files with 164 additions and 12 deletions
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -897,7 +897,17 @@ struct b3PhysicsSimulationParameters
 	double m_solverResidualThreshold;
 	double m_contactSlop;
 	int m_enableSAT;
+    int m_constraintSolverType;
 };

+enum eConstraintSolverTypes
+{
+        eConstraintSolverLCP_SI=1,
+        eConstraintSolverLCP_PGS,
+        eConstraintSolverLCP_DANTZIG,
+        eConstraintSolverLCP_LEMKE,
+        eConstraintSolverLCP_NNCG,
+        eConstraintSolverLCP_BLOCK_PGS,
+};

 #endif//SHARED_MEMORY_PUBLIC_H