Set physics clock subdivider.

2016-08-24 14:25:06 -07:00
parent 3b25489d89
commit 758ca025d5
6 changed files with 33 additions and 3 deletions
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/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;