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expose some parameters through pybullet.getPhysicsEngineParameters (C-API: b3InitRequestPhysicsParamCommand + b3GetStatusPhysicsSimulationParameters)

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This commit is contained in:
erwincoumans
2017-10-05 11:43:14 -07:00
parent 1262adeaec
commit 822ff077c7
10 changed files with 156 additions and 42 deletions
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36
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -325,6 +325,32 @@ B3_SHARED_API int b3LoadUrdfCommandSetStartOrientation(b3SharedMemoryCommandHand
return -1;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS;
command->m_updateFlags = 0;
return (b3SharedMemoryCommandHandle) command;
}
B3_SHARED_API int b3GetStatusPhysicsSimulationParameters(b3SharedMemoryStatusHandle statusHandle,struct b3PhysicsSimulationParameters* params)
{
const SharedMemoryStatus* status = (const SharedMemoryStatus* ) statusHandle;
b3Assert(status);
b3Assert(status->m_type == CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED);
if (status && status->m_type == CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED)
{
*params = status->m_simulationParameterResultArgs;
return 1;
}
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitPhysicsParamCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -352,7 +378,7 @@ B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandH
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_allowRealTimeSimulation = (enableRealTimeSimulation!=0);
command->m_physSimParamArgs.m_useRealTimeSimulation = (enableRealTimeSimulation!=0);
command->m_updateFlags |= SIM_PARAM_UPDATE_REAL_TIME_SIMULATION;
return 0;
}
@@ -395,15 +421,11 @@ B3_SHARED_API int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryComman
command->m_updateFlags |= SIM_PARAM_UPDATE_CONTACT_BREAKING_THRESHOLD;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_maxNumCmdPer1ms = maxNumCmdPer1ms;
command->m_updateFlags |= SIM_PARAM_MAX_CMD_PER_1MS;
//obsolete command
return 0;
}
B3_SHARED_API int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching)