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Merge pull request #2357 from fuchuyuan/setWarmStartFactor

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API and pybullet bindings for setting warmstarting factor
This commit is contained in:
erwincoumans
2019-08-07 17:34:58 -07:00
committed by GitHub
parent cc7a450a3b 2e64b27a31
commit 666e1a8bad
6 changed files with 40 additions and 15 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -668,6 +668,15 @@ B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHand
return 0;
}
B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_warmStartingFactor = warmStartingFactor;
command->m_updateFlags |= SIM_PARAM_UPDATE_WARM_STARTING_FACTOR;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

1
examples/SharedMemory/PhysicsClientC_API.h
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@@ -338,6 +338,7 @@ extern "C"
B3_SHARED_API int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);
B3_SHARED_API int b3PhysicsParamSetUseSplitImpulse(b3SharedMemoryCommandHandle commandHandle, int useSplitImpulse);
B3_SHARED_API int b3PhysicsParamSetSplitImpulsePenetrationThreshold(b3SharedMemoryCommandHandle commandHandle, double splitImpulsePenetrationThreshold);

4
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9070,6 +9070,10 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_dynamicsWorld->getSolverInfo().m_reportSolverAnalytics = clientCmd.m_physSimParamArgs.m_reportSolverAnalytics;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_WARM_STARTING_FACTOR)
{
m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor;
}
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
return hasStatus;

3
examples/SharedMemory/SharedMemoryCommands.h
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@@ -482,7 +482,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_CONSTRAINT_SOLVER_TYPE = 1 << 24,
SIM_PARAM_CONSTRAINT_MIN_SOLVER_ISLAND_SIZE = 1 << 25,
SIM_PARAM_REPORT_CONSTRAINT_SOLVER_ANALYTICS = 1 << 26,
SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
};
enum EnumLoadSoftBodyUpdateFlags

6
examples/SharedMemory/SharedMemoryPublic.h
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@@ -7,8 +7,9 @@
//Please don't replace an existing magic number:
//instead, only ADD a new one at the top, comment-out previous one
#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
// #define SHARED_MEMORY_MAGIC_NUMBER 201904030
#define SHARED_MEMORY_MAGIC_NUMBER 201908050
//#define SHARED_MEMORY_MAGIC_NUMBER 2019060190
//#define SHARED_MEMORY_MAGIC_NUMBER 201904030
//#define SHARED_MEMORY_MAGIC_NUMBER 201902120
//#define SHARED_MEMORY_MAGIC_NUMBER 201811260
//#define SHARED_MEMORY_MAGIC_NUMBER 201810250
@@ -935,6 +936,7 @@ struct b3PhysicsSimulationParameters
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;
double m_warmStartingFactor;
int m_useRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;