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This commit is contained in:
Xuchen Han 2020-02-26 14:16:51 -08:00
parent 84117b8440
commit 7ad19fde6f
4 changed files with 7 additions and 8 deletions
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2
examples/SharedMemory/PhysicsClientC_API.h
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@ -341,7 +341,7 @@ extern "C"
B3_SHARED_API int b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
B3_SHARED_API int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
B3_SHARED_API int b3PhysicsParamSetNumMotorIterations(b3SharedMemoryCommandHandle commandHandle, int numMotorIterations);
B3_SHARED_API int b3PhysicsParamSetNumMotorIterations(b3SharedMemoryCommandHandle commandHandle, int numMotorIterations);
B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
B3_SHARED_API int b3PhysicsParamSetArticulatedWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor);
B3_SHARED_API int b3PhysicsParamSetCollisionFilterMode(b3SharedMemoryCommandHandle commandHandle, int filterMode);

8
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -9455,10 +9455,10 @@ bool PhysicsServerCommandProcessor::processSendPhysicsParametersCommand(const st
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_NUM_MOTOR_ITERATIONS)
{
m_data->m_dynamicsWorld->getSolverInfo().m_numMotorIterations = clientCmd.m_physSimParamArgs.m_numMotorIterations;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_NUM_MOTOR_ITERATIONS)
{
m_data->m_dynamicsWorld->getSolverInfo().m_numMotorIterations = clientCmd.m_physSimParamArgs.m_numMotorIterations;
}
if (clientCmd.m_updateFlags & SIM_PARAM_UPDATE_SOLVER_RESIDULAL_THRESHOLD)
{

3
examples/SharedMemory/SharedMemoryCommands.h
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@ -487,8 +487,7 @@ enum EnumSimParamUpdateFlags
SIM_PARAM_UPDATE_WARM_STARTING_FACTOR = 1 << 27,
SIM_PARAM_UPDATE_ARTICULATED_WARM_STARTING_FACTOR = 1 << 28,
SIM_PARAM_UPDATE_SPARSE_SDF = 1 << 29,
SIM_PARAM_UPDATE_NUM_MOTOR_ITERATIONS = 1 << 30,
SIM_PARAM_UPDATE_NUM_MOTOR_ITERATIONS = 1 << 30,
};
enum EnumLoadSoftBodyUpdateFlags

2
examples/SharedMemory/SharedMemoryPublic.h
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@ -1006,7 +1006,7 @@ struct b3PhysicsSimulationParameters
int m_minimumSolverIslandSize;
int m_reportSolverAnalytics;
double m_sparseSdfVoxelSize;
int m_numMotorIterations;
int m_numMotorIterations;
};