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expose b3PhysicsParamSetNumSolverIterations

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split Visual Studio project generation batch file in regular and VR+pybullet+double precision build.
disable KUKA iiwa joint limit hack
This commit is contained in:
erwin coumans
2016-10-05 16:31:48 -07:00
parent d6f449762b
commit d59b0f05a4
6 changed files with 39 additions and 19 deletions
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28
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -1490,7 +1490,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
case CMD_SEND_DESIRED_STATE:
case CMD_SEND_DESIRED_STATE:
{
if (m_data->m_verboseOutput)
{
@@ -1670,18 +1670,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
break;
}
default:
{
b3Warning("m_controlMode not implemented yet");
break;
}
{
b3Warning("m_controlMode not implemented yet");
break;
}
}
}
}
}
serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
hasStatus = true;
break;
}
serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
hasStatus = true;
break;
}
case CMD_REQUEST_ACTUAL_STATE:
{
if (m_data->m_verboseOutput)
@@ -1944,6 +1944,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
}
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS)
{
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
{
m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
@@ -3351,7 +3355,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
{
btScalar desiredVelocity = 0.f;
btScalar desiredPosition = q_new[link];
motor->setRhsClamp(gRhsClamp);
//motor->setRhsClamp(gRhsClamp);
//printf("link %d: %f", link, q_new[link]);
motor->setVelocityTarget(desiredVelocity,1.0);
motor->setPositionTarget(desiredPosition,0.6);