expose choice of contraint solver in PyBullet, with switchConstraintSolver example

examples/pybullet/examples/switchConstraintSolver.py

@@ -0,0 +1,31 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
+p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG, globalCFM = 0.000001)
+#p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
+
+
+p.loadURDF("plane.urdf")
+radius = 0.025
+distance = 1.86
+yaw=135
+pitch=-11
+targetPos=[0,0,0]
+
+p.setPhysicsEngineParameter(solverResidualThreshold=0.001, numSolverIterations=200)
+p.resetDebugVisualizerCamera(distance, yaw,pitch, targetPos)
+objectId = -1
+
+for i in range (10):
+	objectId = p.loadURDF("cube_small.urdf",[1,1,radius+i*2*radius])
+
+p.changeDynamics(objectId,-1,100)
+
+timeStep = 1./240.
+p.setGravity(0,0,-10)
+while (p.isConnected()):
+	p.stepSimulation()
+	time.sleep(timeStep)
+