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add SOLVER_USE_ARTICULATED_WARMSTARTING option and APIs

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fix compile
This commit is contained in:
Chuyuan Fu
2019-10-17 16:59:15 -07:00
parent ac680be673
commit 913400eba1
10 changed files with 33 additions and 30 deletions
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8
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -752,6 +752,14 @@ B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandl
return 0;
}
B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_articulatedWarmStartingFactor = warmStartingFactor;
command->m_updateFlags |= SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetSolverResidualThreshold(b3SharedMemoryCommandHandle commandHandle, double solverResidualThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;