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expose numSubSteps to pybullet

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This commit is contained in:
Erwin Coumans
2016-12-01 17:54:52 -08:00
parent e20c487e52
commit 6814e334a2
1 changed files with 7 additions and 2 deletions
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9
examples/pybullet/pybullet.c
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@@ -425,15 +425,16 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int numSolverIterations = -1; int numSolverIterations = -1;
int useSplitImpulse = -1; int useSplitImpulse = -1;
double splitImpulsePenetrationThreshold = -1; double splitImpulsePenetrationThreshold = -1;
int numSubSteps = -1;
if (0 == sm) { if (0 == sm) {
PyErr_SetString(SpamError, "Not connected to physics server."); PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL; return NULL;
} }
static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold", NULL }; static char *kwlist[] = { "fixedTimeStep", "numSolverIterations","useSplitImpulse","splitImpulsePenetrationThreshold","numSubSteps", NULL };
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diid", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold)) if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidi", kwlist,&fixedTimeStep,&numSolverIterations,&useSplitImpulse,&splitImpulsePenetrationThreshold,&numSubSteps))
{ {
return NULL; return NULL;
} }
@@ -457,6 +458,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{ {
b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold); b3PhysicsParamSetSplitImpulsePenetrationThreshold(command, splitImpulsePenetrationThreshold);
} }
if (numSubSteps>=0)
{
b3PhysicsParamSetNumSubSteps(command,numSubSteps);
}
//ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation); //ret = b3PhysicsParamSetRealTimeSimulation(command, enableRealTimeSimulation);