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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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53
examples/pybullet/pybullet.c
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@@ -853,6 +853,56 @@ static PyObject* pybullet_getDynamicsInfo(PyObject* self, PyObject* args, PyObje
return NULL;
}
static PyObject* pybullet_getPhysicsEngineParameters(PyObject* self, PyObject* args, PyObject* keywds)
{
b3PhysicsClientHandle sm = 0;
PyObject* val=0;
int physicsClientId = 0;
static char* kwlist[] = {"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
{
b3SharedMemoryCommandHandle command = b3InitRequestPhysicsParamCommand(sm);
b3SharedMemoryStatusHandle statusHandle;
struct b3PhysicsSimulationParameters params;
int statusType;
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
if (statusType!=CMD_REQUEST_PHYSICS_SIMULATION_PARAMETERS_COMPLETED)
{
PyErr_SetString(SpamError, "Couldn't get physics simulation parameters.");
return NULL;
}
b3GetStatusPhysicsSimulationParameters(statusHandle,&params);
//for now, return a subset, expose more/all on request
val = Py_BuildValue("{s:d,s:i,s:i,s:i,s:d,s:d,s:d}",
"fixedTimeStep", params.m_deltaTime,
"numSubSteps", params.m_numSimulationSubSteps,
"numSolverIterations", params.m_numSolverIterations,
"useRealTimeSimulation", params.m_useRealTimeSimulation,
"gravityAccelerationX", params.m_gravityAcceleration[0],
"gravityAccelerationY", params.m_gravityAcceleration[1],
"gravityAccelerationZ", params.m_gravityAcceleration[2]
);
return val;
}
//"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP",
//val = Py_BuildValue("{s:i,s:i}","isConnected", isConnected, "connectionMethod", method);
}
static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject* keywds)
{
@@ -7429,6 +7479,9 @@ static PyMethodDef SpamMethods[] = {
{"setPhysicsEngineParameter", (PyCFunction)pybullet_setPhysicsEngineParameter, METH_VARARGS | METH_KEYWORDS,
"Set some internal physics engine parameter, such as cfm or erp etc."},
{"getPhysicsEngineParameters", (PyCFunction)pybullet_getPhysicsEngineParameters, METH_VARARGS | METH_KEYWORDS,
"Get the current values of internal physics engine parameters"},
{"setInternalSimFlags", (PyCFunction)pybullet_setInternalSimFlags, METH_VARARGS | METH_KEYWORDS,
"This is for experimental purposes, use at own risk, magic may or not happen"},