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expose pybullet non-contact erp, friction erp and frictionAnchor, b3PhysicsParamSetDefaultNonContactERP / b3PhysicsParamSetDefaultFrictionERP / b3ChangeDynamicsInfoSetFrictionAnchor

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This commit is contained in:
Erwin Coumans
2017-06-07 09:37:28 -07:00
parent 0c3a3cc466
commit d08f3e5f91
6 changed files with 112 additions and 12 deletions
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30
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -452,10 +452,24 @@ int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle
command->m_physSimParamArgs.m_defaultContactERP = defaultContactERP;
return 0;
}
int b3PhysicsParamSetDefaultNonContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultNonContactERP)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP;
command->m_physSimParamArgs.m_defaultNonContactERP = defaultNonContactERP;
return 0;
}
int b3PhysicsParamSetDefaultFrictionERP(b3SharedMemoryCommandHandle commandHandle, double frictionERP)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_updateFlags |= SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP;
command->m_physSimParamArgs.m_frictionERP = frictionERP;
return 0;
}
int b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
b3SharedMemoryCommandHandle b3InitStepSimulationCommand(b3PhysicsClientHandle physClient)
{
PhysicsClient* cl = (PhysicsClient* ) physClient;
@@ -1594,6 +1608,18 @@ int b3ChangeDynamicsInfoSetContactStiffnessAndDamping(b3SharedMemoryCommandHandl
return 0;
}
int b3ChangeDynamicsInfoSetFrictionAnchor(b3SharedMemoryCommandHandle commandHandle,int bodyUniqueId,int linkIndex, int frictionAnchor)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = linkIndex;
command->m_changeDynamicsInfoArgs.m_frictionAnchor = frictionAnchor;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR;
return 0;
}
b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyIndex, int parentJointIndex, int childBodyIndex, int childJointIndex, struct b3JointInfo* info)
{