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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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32
examples/pybullet/pybullet.c
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@@ -336,19 +336,19 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec
struct b3ForwardDynamicsAnalyticsArgs analyticsData;
int numIslands = 0;
int i;
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
PyObject* val = 0;
numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData);
PyObject* pyAnalyticsData = PyTuple_New(numIslands);
for (i=0;i<numIslands;i++)
{
int numFields = 4;
PyObject* pyIslandData = PyTuple_New(numFields);
PyTuple_SetItem(pyIslandData, 0, PyLong_FromLong(analyticsData.m_islandData[i].m_islandId));
PyTuple_SetItem(pyIslandData, 1, PyLong_FromLong(analyticsData.m_islandData[i].m_numBodies));
PyTuple_SetItem(pyIslandData, 2, PyLong_FromLong(analyticsData.m_islandData[i].m_numIterationsUsed));
PyTuple_SetItem(pyIslandData, 3, PyFloat_FromDouble(analyticsData.m_islandData[i].m_remainingLeastSquaresResidual));
PyTuple_SetItem(pyAnalyticsData, i, pyIslandData);
val = Py_BuildValue("{s:i, s:i, s:i, s:d}",
"islandId", analyticsData.m_islandData[i].m_islandId,
"numBodies", analyticsData.m_islandData[i].m_numBodies,
"numIterationsUsed", analyticsData.m_islandData[i].m_numIterationsUsed,
"remainingResidual", analyticsData.m_islandData[i].m_remainingLeastSquaresResidual);
PyTuple_SetItem(pyAnalyticsData, i, val);
}
return pyAnalyticsData;
@@ -1577,6 +1577,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int minimumSolverIslandSize = -1;
int reportSolverAnalytics = -1;
double warmStartingFactor = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep",
@@ -1603,11 +1606,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"globalCFM",
"minimumSolverIslandSize",
"reportSolverAnalytics",
"warmStartingFactor",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &physicsClientId))
&reportSolverAnalytics, &warmStartingFactor, &physicsClientId))
{
return NULL;
}
@@ -1728,6 +1732,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetSolverAnalytics(command, reportSolverAnalytics);
}
if (warmStartingFactor >= 0)
{
b3PhysicsParamSetWarmStartingFactor(command, warmStartingFactor);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}