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expose pybullet 'enableConeFriction' to switch between pyramid and cone friction model.

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This commit is contained in:
Erwin Coumans
2017-12-01 10:07:07 -08:00
parent e1df1534f3
commit c556ad651d
7 changed files with 83 additions and 51 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -450,6 +450,15 @@ B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCo
}
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_enableConeFriction = enableConeFriction;
command->m_updateFlags |= SIM_PARAM_ENABLE_CONE_FRICTION;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
{

3
examples/SharedMemory/PhysicsClientC_API.h
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@@ -280,6 +280,9 @@ B3_SHARED_API int b3PhysicsParamSetContactBreakingThreshold(b3SharedMemoryComman
B3_SHARED_API int b3PhysicsParamSetMaxNumCommandsPer1ms(b3SharedMemoryCommandHandle commandHandle, int maxNumCmdPer1ms);
B3_SHARED_API int b3PhysicsParamSetEnableFileCaching(b3SharedMemoryCommandHandle commandHandle, int enableFileCaching);
B3_SHARED_API int b3PhysicsParamSetRestitutionVelocityThreshold(b3SharedMemoryCommandHandle commandHandle, double restitutionVelocityThreshold);
B3_SHARED_API int b3PhysicsParamSetEnableConeFriction(b3SharedMemoryCommandHandle commandHandle, int enableConeFriction);
B3_SHARED_API b3SharedMemoryCommandHandle b3InitRequestPhysicsParamCommand(b3PhysicsClientHandle physClient);