Set physics clock subdivider.

examples/RoboticsLearning/GripperGraspExample.cpp

@@ -87,7 +87,7 @@ public:
 				args.m_fileName = "cube_small.urdf";
 				args.m_startPosition.setValue(0, 0, .107);
 				args.m_startOrientation.setEulerZYX(0, 0, 0);
-				args.m_useMultiBody = true;
+				args.m_useMultiBody = false;
 				m_robotSim.loadFile(args, results);
 			}
 
@@ -152,7 +152,7 @@ public:
                 
             }
             m_robotSim.setGravity(b3MakeVector3(0,0,-10));
-            
+            m_robotSim.setNumSimulationSubSteps(4);
         }
 
 	

examples/RoboticsLearning/b3RobotSimAPI.cpp

@@ -460,6 +460,15 @@ void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
 
 }
 
+void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps)
+{
+    b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
+    b3SharedMemoryStatusHandle statusHandle;
+    b3PhysicsParamSetNumSubSteps(command, numSubSteps);
+    statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
+    b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
+}
+
 b3RobotSimAPI::~b3RobotSimAPI()
 {
 	delete m_data;

examples/RoboticsLearning/b3RobotSimAPI.h

@@ -95,6 +95,8 @@ public:
 	void stepSimulation();
 
 	void setGravity(const b3Vector3& gravityAcceleration);
+    
+    void setNumSimulationSubSteps(int numSubSteps);
 
 	void renderScene();
 	void debugDraw(int debugDrawMode);