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for the GraphicsServer, expose a sync transform interval: only synchronize the transform once the stepSimulation exceeds this time interval.

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(for example, run the simulation at 1kHz but sync the graphics transforms to remove graphics server at 30Hz)
This commit is contained in:
Erwin Coumans
2019-06-19 09:45:29 -07:00
parent c3b7f39aaf
commit ed4515ae17
6 changed files with 120 additions and 82 deletions
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11
examples/pybullet/pybullet.c
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@@ -5874,12 +5874,13 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
int shadowMapResolution = -1;
int shadowMapWorldSize = -1;
int physicsClientId = 0;
double remoteSyncTransformInterval = -1;
PyObject* pyLightPosition = 0;
b3PhysicsClientHandle sm = 0;
static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "physicsClientId", NULL};
static char* kwlist[] = {"flag", "enable", "lightPosition", "shadowMapResolution", "shadowMapWorldSize", "remoteSyncTransformInterval", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiii", kwlist,
&flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|iiOiidi", kwlist,
&flag, &enable, &pyLightPosition, &shadowMapResolution, &shadowMapWorldSize, &remoteSyncTransformInterval, &physicsClientId))
return NULL;
sm = getPhysicsClient(physicsClientId);
@@ -5911,6 +5912,10 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
{
b3ConfigureOpenGLVisualizerSetShadowMapWorldSize(commandHandle, shadowMapWorldSize);
}
if (remoteSyncTransformInterval >= 0)
{
b3ConfigureOpenGLVisualizerSetRemoteSyncTransformInterval(commandHandle, remoteSyncTransformInterval);
}
b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
}