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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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43
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -360,7 +360,7 @@ struct CommandLogger
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
fwrite((const char*)&command.m_updateFlags,sizeof(int), 1,m_file);
fwrite((const char*)&command.m_physSimParamArgs, sizeof(SendPhysicsSimulationParameters), 1,m_file);
fwrite((const char*)&command.m_physSimParamArgs, sizeof(b3PhysicsSimulationParameters), 1,m_file);
break;
}
case CMD_REQUEST_CONTACT_POINT_INFORMATION:
@@ -564,7 +564,7 @@ struct CommandLogPlayback
cmd->m_physSimParamArgs = unused.m_physSimParamArgs;
#else
fread(&cmd->m_updateFlags,sizeof(int),1,m_file);
fread(&cmd->m_physSimParamArgs ,sizeof(SendPhysicsSimulationParameters),1,m_file);
fread(&cmd->m_physSimParamArgs ,sizeof(b3PhysicsSimulationParameters),1,m_file);
#endif
result = true;
@@ -1440,7 +1440,7 @@ struct PhysicsServerCommandProcessorInternalData
b3PluginManager m_pluginManager;
bool m_allowRealTimeSimulation;
bool m_useRealTimeSimulation;
b3VRControllerEvents m_vrControllerEvents;
@@ -1524,7 +1524,7 @@ struct PhysicsServerCommandProcessorInternalData
PhysicsServerCommandProcessorInternalData(PhysicsCommandProcessorInterface* proc)
:m_pluginManager(proc),
m_allowRealTimeSimulation(false),
m_useRealTimeSimulation(false),
m_commandLogger(0),
m_logPlayback(0),
m_physicsDeltaTime(1./240.),
@@ -5690,6 +5690,33 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
break;
}
case CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS:
{
SharedMemoryStatus& serverCmd =serverStatusOut;
serverCmd.m_type = CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED;
serverCmd.m_simulationParameterResultArgs.m_collisionFilterMode = m_data->m_broadphaseCollisionFilterCallback->m_filterMode;
serverCmd.m_simulationParameterResultArgs.m_contactBreakingThreshold = gContactBreakingThreshold;
serverCmd.m_simulationParameterResultArgs.m_defaultContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp2;
serverCmd.m_simulationParameterResultArgs.m_defaultNonContactERP = m_data->m_dynamicsWorld->getSolverInfo().m_erp;
serverCmd.m_simulationParameterResultArgs.m_deltaTime = m_data->m_physicsDeltaTime;
serverCmd.m_simulationParameterResultArgs.m_enableFileCaching = b3IsFileCachingEnabled();
serverCmd.m_simulationParameterResultArgs.m_frictionERP = m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP;
btVector3 grav = m_data->m_dynamicsWorld->getGravity();
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[0] = grav[0];
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[1] = grav[1];
serverCmd.m_simulationParameterResultArgs.m_gravityAcceleration[2] = grav[2];
serverCmd.m_simulationParameterResultArgs.m_internalSimFlags = gInternalSimFlags;
serverCmd.m_simulationParameterResultArgs.m_numSimulationSubSteps = m_data->m_numSimulationSubSteps;
serverCmd.m_simulationParameterResultArgs.m_numSolverIterations = m_data->m_dynamicsWorld->getSolverInfo().m_numIterations;
serverCmd.m_simulationParameterResultArgs.m_restitutionVelocityThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold;
serverCmd.m_simulationParameterResultArgs.m_splitImpulsePenetrationThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulsePenetrationThreshold;
serverCmd.m_simulationParameterResultArgs.m_useRealTimeSimulation = m_data->m_useRealTimeSimulation;
serverCmd.m_simulationParameterResultArgs.m_useSplitImpulse = m_data->m_dynamicsWorld->getSolverInfo().m_splitImpulse;
hasStatus = true;
break;
}
case CMD_SEND_PHYSICS_SIMULATION_PARAMETERS:
{
BT_PROFILE("CMD_SEND_PHYSICS_SIMULATION_PARAMETERS");
@@ -5700,7 +5727,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_REAL_TIME_SIMULATION)
{
m_data->m_allowRealTimeSimulation = clientCmd.m_physSimParamArgs.m_allowRealTimeSimulation;
m_data->m_useRealTimeSimulation = (clientCmd.m_physSimParamArgs.m_useRealTimeSimulation!=0);
}
//see
@@ -8351,12 +8378,12 @@ double gSubStep = 0.f;
void PhysicsServerCommandProcessor::enableRealTimeSimulation(bool enableRealTimeSim)
{
m_data->m_allowRealTimeSimulation = enableRealTimeSim;
m_data->m_useRealTimeSimulation = enableRealTimeSim;
}
bool PhysicsServerCommandProcessor::isRealTimeSimulationEnabled() const
{
return m_data->m_allowRealTimeSimulation;
return m_data->m_useRealTimeSimulation;
}
void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents, const struct b3MouseEvent* mouseEvents, int numMouseEvents)
@@ -8461,7 +8488,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec,const
}
}
if ((m_data->m_allowRealTimeSimulation) && m_data->m_guiHelper)
if ((m_data->m_useRealTimeSimulation) && m_data->m_guiHelper)
{