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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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22
examples/SharedMemory/SharedMemoryPublic.h
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@@ -75,6 +75,7 @@ enum EnumSharedMemoryClientCommand
CMD_CHANGE_TEXTURE,
CMD_SET_ADDITIONAL_SEARCH_PATH,
CMD_CUSTOM_COMMAND,
CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
@@ -174,7 +175,7 @@ enum EnumSharedMemoryServerStatus
CMD_CHANGE_TEXTURE_COMMAND_FAILED,
CMD_CUSTOM_COMMAND_COMPLETED,
CMD_CUSTOM_COMMAND_FAILED,
CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};
@@ -640,5 +641,24 @@ struct b3PluginArguments
double m_floats[B3_MAX_PLUGIN_ARG_SIZE];
};
struct b3PhysicsSimulationParameters
{
double m_deltaTime;
double m_gravityAcceleration[3];
int m_numSimulationSubSteps;
int m_numSolverIterations;
int m_useRealTimeSimulation;
int m_useSplitImpulse;
double m_splitImpulsePenetrationThreshold;
double m_contactBreakingThreshold;
int m_internalSimFlags;
double m_defaultContactERP;
int m_collisionFilterMode;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_defaultNonContactERP;
double m_frictionERP;
};
#endif//SHARED_MEMORY_PUBLIC_H