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add api for setting non contact iteration for pybullet

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This commit is contained in:
Xuchen Han 2020-05-28 17:58:21 -07:00
parent 5233b72160
commit e6fdaebea9
1 changed files with 8 additions and 2 deletions
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10
examples/pybullet/pybullet.c
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@ -1649,6 +1649,7 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
double warmStartingFactor = -1; double warmStartingFactor = -1;
double sparseSdfVoxelSize = -1; double sparseSdfVoxelSize = -1;
int numNonContactInnerIterations = -1;
int physicsClientId = 0; int physicsClientId = 0;
@ -1678,11 +1679,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
"reportSolverAnalytics", "reportSolverAnalytics",
"warmStartingFactor", "warmStartingFactor",
"sparseSdfVoxelSize", "sparseSdfVoxelSize",
"numNonContactInnerIterations",
"physicsClientId", NULL}; "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps, if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiiddii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize,
&reportSolverAnalytics, &warmStartingFactor, &sparseSdfVoxelSize, &physicsClientId)) &reportSolverAnalytics, &warmStartingFactor, &sparseSdfVoxelSize, &numNonContactInnerIterations, &physicsClientId))
{ {
return NULL; return NULL;
} }
@ -1811,6 +1813,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
{ {
b3PhysicsParameterSetSparseSdfVoxelSize(command, sparseSdfVoxelSize); b3PhysicsParameterSetSparseSdfVoxelSize(command, sparseSdfVoxelSize);
} }
if (numNonContactInnerIterations >= 1)
{
b3PhysicsParamSetNumNonContactInnerIterations(command, numNonContactInnerIterations);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
} }