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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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8
examples/SharedMemory/SharedMemoryCommands.h
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@@ -120,6 +120,7 @@ enum EnumChangeDynamicsInfoFlags
CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING=64,
CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING=128,
CHANGE_DYNAMICS_INFO_SET_CONTACT_STIFFNESS_AND_DAMPING=256,
CHANGE_DYNAMICS_INFO_SET_FRICTION_ANCHOR = 512,
};
@@ -137,6 +138,7 @@ struct ChangeDynamicsInfoArgs
double m_angularDamping;
double m_contactStiffness;
double m_contactDamping;
int m_frictionAnchor;
};
struct GetDynamicsInfoArgs
@@ -371,8 +373,8 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_MAX_CMD_PER_1MS = 2048,
SIM_PARAM_ENABLE_FILE_CACHING = 4096,
SIM_PARAM_UPDATE_RESTITUTION_VELOCITY_THRESHOLD = 8192,
SIM_PARAM_UPDATE_DEFAULT_NON_CONTACT_ERP=16384,
SIM_PARAM_UPDATE_DEFAULT_FRICTION_ERP = 32768,
};
enum EnumLoadBunnyUpdateFlags
@@ -406,6 +408,8 @@ struct SendPhysicsSimulationParameters
int m_collisionFilterMode;
int m_enableFileCaching;
double m_restitutionVelocityThreshold;
double m_defaultNonContactERP;
double m_frictionERP;
};
struct LoadBunnyArgs