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added b3PhysicsParamSetInternalSimFlags command, and pybullet setInternalSimFlags API.

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//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
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3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -108,6 +108,9 @@ int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int
int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
//b3PhysicsParamSetInternalSimFlags is for internal/temporary/easter-egg/experimental demo purposes
//Use at own risk: magic things may or my not happen when calling this API
int b3PhysicsParamSetInternalSimFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);