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Merge pull request #842 from erwincoumans/master

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added b3PhysicsParamSetInternalSimFlags command, and pybullet setInte…
This commit is contained in:
erwincoumans
2016-10-23 08:26:52 -07:00
committed by GitHub
parent c83dde6344 c2ca88bf44
commit f01389ded2
8 changed files with 564 additions and 473 deletions
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10
examples/SharedMemory/SharedMemoryCommands.h
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@@ -251,9 +251,16 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS=4,
SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS=8,
SIM_PARAM_UPDATE_REAL_TIME_SIMULATION = 16,
SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32
SIM_PARAM_UPDATE_DEFAULT_CONTACT_ERP=32,
SIM_PARAM_UPDATE_INTERNAL_SIMULATION_FLAGS=64
};
enum EnumSimParamInternalSimFlags
{
SIM_PARAM_INTERNAL_CREATE_ROBOT_ASSETS=1,
};
///Controlling a robot involves sending the desired state to its joint motor controllers.
///The control mode determines the state variables used for motor control.
struct SendPhysicsSimulationParameters
@@ -263,6 +270,7 @@ struct SendPhysicsSimulationParameters
int m_numSimulationSubSteps;
int m_numSolverIterations;
bool m_allowRealTimeSimulation;
int m_internalSimFlags;
double m_defaultContactERP;
};