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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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24
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -277,7 +277,11 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
m_multiBodyConstraints.resize(0);
}
void setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
{
m_solver = solver;
}
virtual void processIsland(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifolds,int numManifolds, int islandId)
{
if (islandId<0)
@@ -394,6 +398,22 @@ btMultiBodyDynamicsWorld::~btMultiBodyDynamicsWorld ()
delete m_solverMultiBodyIslandCallback;
}
void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstraintSolver* solver)
{
m_multiBodyConstraintSolver = solver;
m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver);
btDiscreteDynamicsWorld::setConstraintSolver(solver);
}
void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)
{
if (solver->getSolverType()==BT_MULTIBODY_SOLVER)
{
m_multiBodyConstraintSolver = (btMultiBodyConstraintSolver*)solver;
}
btDiscreteDynamicsWorld::setConstraintSolver(solver);
}
void btMultiBodyDynamicsWorld::forwardKinematics()
{
@@ -1008,4 +1028,4 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
}
}
}
}