Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added b3PhysicsParamSetInternalSimFlags command, and pybullet setInternalSimFlags API.

Browse Source 
//Use at own risk: magic things may or my not happen when calling this API.

This allows to enable/disable robot assets (samurai world, gripper, KUKA robot etc) in Physics Server (and App_PhysicsServerVR etc)
1 = create robot assets
2 = create experimental box-vr-gui

Add optional command-line parameter for App_PhysicsServerVR, --norobotassets, to start with an empty world, no assets in VR (no gripper, no kuka)
This commit is contained in:
erwincoumans
2016-10-23 07:14:50 -07:00
parent 2c6237abda
commit c2ca88bf44
8 changed files with 564 additions and 473 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@@ -179,6 +179,15 @@ int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandH
return 0;
}
int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHandle, int flags)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_internalSimFlags = flags;
command->m_updateFlags |= SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS;
return 0;
}
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;