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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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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9338,6 +9338,12 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
{
m_data->m_dynamicsWorld->getSolverInfo().m_warmstartingFactor = clientCmd.m_physSimParamArgs.m_warmStartingFactor;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR)
{
m_data->m_dynamicsWorld->getSolverInfo().m_solverMode |= SOLVER_USE_ARTICULATED_WARMSTARTING;
m_data->m_dynamicsWorld->getSolverInfo().m_articulatedWarmstartingFactor = clientCmd.m_physSimParamArgs.m_articulatedWarmStartingFactor;
}
SharedMemoryStatus& serverCmd = serverStatusOut;
serverCmd.m_type = CMD_CLIENT_COMMAND_COMPLETED;
return hasStatus;