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disable keyboard toggle in Linux/X11

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revert num solver iterations to 50 (from 150)
set solver iterations for one gripper grasp to 150
This commit is contained in:
Erwin Coumans
2017-02-16 15:56:42 -08:00
parent 65deeee64b
commit 8f546acbe8
6 changed files with 17 additions and 5 deletions
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1
examples/RoboticsLearning/GripperGraspExample.cpp
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@@ -209,6 +209,7 @@ public:
if ((m_options & eONE_MOTOR_GRASP)!=0)
{
m_robotSim.setNumSolverIterations(150);
{
SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
slider.m_minVal=-2;

10
examples/RoboticsLearning/b3RobotSimAPI.cpp
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@@ -478,6 +478,16 @@ void b3RobotSimAPI::setGravity(const b3Vector3& gravityAcceleration)
}
void b3RobotSimAPI::setNumSolverIterations(int numIterations)
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);
b3SharedMemoryStatusHandle statusHandle;
b3PhysicsParamSetNumSolverIterations(command, numIterations);
statusHandle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClient, command);
b3Assert(b3GetStatusType(statusHandle)==CMD_CLIENT_COMMAND_COMPLETED);
}
void b3RobotSimAPI::setNumSimulationSubSteps(int numSubSteps)
{
b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClient);

1
examples/RoboticsLearning/b3RobotSimAPI.h
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@@ -157,6 +157,7 @@ public:
void setGravity(const b3Vector3& gravityAcceleration);
void setNumSimulationSubSteps(int numSubSteps);
void setNumSolverIterations(int numIterations);
bool calculateInverseKinematics(const struct b3RobotSimInverseKinematicArgs& args, struct b3RobotSimInverseKinematicsResults& results);