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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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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);