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only report solver analytics if enabled using setPhysicsEngineParameter(reportSolverAnalytics=1)

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erwincoumans
2019-04-14 18:20:20 -07:00
parent 219970c09e
commit e97a7d77af
8 changed files with 61 additions and 35 deletions
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13
examples/pybullet/pybullet.c
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@@ -1567,8 +1567,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double globalCFM = -1;
int minimumSolverIslandSize = -1;
int reportSolverAnalytics = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep",
"numSolverIterations",
"useSplitImpulse",
@@ -1592,10 +1593,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"constraintSolverType",
"globalCFM",
"minimumSolverIslandSize",
"reportSolverAnalytics",
"physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &physicsClientId))
{
return NULL;
}
@@ -1712,6 +1715,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{
b3PhysicsParamSetDefaultGlobalCFM(command, globalCFM);
}
if (reportSolverAnalytics >= 0)
{
b3PhysicsParamSetSolverAnalytics(command, reportSolverAnalytics);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
}