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);

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -154,6 +154,15 @@ int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
 	return 0;
 }
 
+int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps)
+{
+    struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+    b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+    command->m_updateFlags |= SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS;
+    command->m_physSimParamArgs.m_numSimulationSubSteps = numSubSteps;
+    return 0;
+}
+
 b3SharedMemoryCommandHandle	b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;

examples/SharedMemory/PhysicsClientC_API.h

@@ -84,6 +84,7 @@ void b3GetCameraImageData(b3PhysicsClientHandle physClient, struct b3CameraImage
 b3SharedMemoryCommandHandle	b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient);
 int	b3PhysicsParamSetGravity(b3SharedMemoryCommandHandle commandHandle, double gravx,double gravy, double gravz);
 int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep);
+int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
 int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
 
 b3SharedMemoryCommandHandle	b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -385,6 +385,7 @@ struct PhysicsServerCommandProcessorInternalData
 
 
 	btScalar m_physicsDeltaTime;
+    btScalar m_numSimulationSubSteps;
 	btAlignedObjectArray<btMultiBodyJointFeedback*> m_multiBodyJointFeedbacks;
 	btHashMap<btHashPtr, btInverseDynamics::MultiBodyTree*> m_inverseDynamicsBodies;
 
@@ -428,6 +429,7 @@ struct PhysicsServerCommandProcessorInternalData
 		m_commandLogger(0),
 		m_logPlayback(0),
 		m_physicsDeltaTime(1./240.),
+        m_numSimulationSubSteps(0),
 		m_dynamicsWorld(0),
 		m_remoteDebugDrawer(0),
 		m_guiHelper(0),
@@ -1812,7 +1814,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     {
                         applyJointDamping(i);
                     }
-                    m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0);
+                    if (m_data->m_numSimulationSubSteps > 0)
+                        m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,m_data->m_numSimulationSubSteps,m_data->m_physicsDeltaTime/m_data->m_numSimulationSubSteps);
+                    else
+                        m_data->m_dynamicsWorld->stepSimulation(m_data->m_physicsDeltaTime,0);
 
 					SharedMemoryStatus& serverCmd =serverStatusOut;
 					serverCmd.m_type = CMD_STEP_FORWARD_SIMULATION_COMPLETED;
@@ -1842,6 +1847,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 
 					}
+                    if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
+                    {
+                        m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
+                    }
 
 					SharedMemoryStatus& serverCmd =serverStatusOut;
 					serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;