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Merge pull request #1686 from yuchenericwu2/master

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Expose CFM parameters
This commit is contained in:
erwincoumans
2018-05-16 16:18:45 -07:00
committed by GitHub
parent 4c4cf11667 f03ae5a857
commit 8f4d1e722e
5 changed files with 35 additions and 2 deletions
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18
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -649,6 +649,24 @@ B3_SHARED_API int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle commandHandle, double defaultGlobalCFM)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM;
command->m_physSimParamArgs.m_defaultGlobalCFM = defaultGlobalCFM;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle commandHandle, double frictionCFM)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM;
command->m_physSimParamArgs.m_frictionCFM = frictionCFM;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{

2
examples/SharedMemory/PhysicsClientC_API.h
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@@ -283,6 +283,8 @@ B3_SHARED_API int b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandH
B3_SHARED_API int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
B3_SHARED_API int b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP);
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP);
B3_SHARED_API int b3PhysicsParamSetDefaultGlobalCFM(b3SharedMemoryCommandHandle commandHandle, double defaultGlobalCFM);
B3_SHARED_API int b3PhysicsParamSetDefaultFrictionCFM(b3SharedMemoryCommandHandle commandHandle, double frictionCFM);
B3_SHARED_API int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);

11
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6735,7 +6735,16 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionERP;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_globalCfm = clientCmd.m_physSimParamArgs.m_defaultGlobalCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM)
{
m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = clientCmd.m_physSimParamArgs.m_frictionCFM;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD)
{

2
examples/SharedMemory/SharedMemoryCommands.h
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@@ -448,6 +448,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_DETERMINISTIC_OVERLAPPING_PAIRS = 65536,
SIM_PARAM_UPDATE_CCD_ALLOWED_PENETRATION = 131072,
SIM_PARAM_UPDATE_JOINT_FEEDBACK_MODE = 262144,
SIM_PARAM_UPDATE_DEFAULT_GLOBAL_CFM = 524288,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_CFM = 1048576,
};
enum EnumLoadSoftBodyUpdateFlags

4
examples/SharedMemory/SharedMemoryPublic.h
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@@ -747,8 +747,10 @@ struct b3PhysicsSimulationParameters
int m_collisionFilterMode;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_defaultNonContactERP;
double m_defaultNonContactERP;
double m_frictionERP;
double m_defaultGlobalCFM;
double m_frictionCFM;
int m_enableConeFriction;
int m_deterministicOverlappingPairs;
double m_allowedCcdPenetration;