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/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
+++ b/src/BulletDynamics/ConstraintSolver/btConstraintSolver.h
@@ -34,7 +34,8 @@ enum btConstraintSolverType
 {
 	BT_SEQUENTIAL_IMPULSE_SOLVER=1,
 	BT_MLCP_SOLVER=2,
-	BT_NNCG_SOLVER=4
+	BT_NNCG_SOLVER=4,
+    BT_MULTIBODY_SOLVER=8,
 };

 class btConstraintSolver