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separate motor constraint iterations and expose API

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This commit is contained in:
Xuchen Han
2020-02-26 14:11:41 -08:00
parent dc11c43666
commit 84117b8440
7 changed files with 32 additions and 10 deletions
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9
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -771,6 +771,15 @@ B3_SHARED_API int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHand
return 0;
}
B3_SHARED_API int b3PhysicsParamSetNumMotorIterations(b3SharedMemoryCommandHandle commandHandle, int numMotorIterations)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
command->m_physSimParamArgs.m_numMotorIterations = numMotorIterations;
command->m_updateFlags |= SIM_PARAM_UPDATE_NUM_MOTOR_ITERATIONS;
return 0;
}
B3_SHARED_API int b3PhysicsParamSetWarmStartingFactor(b3SharedMemoryCommandHandle commandHandle, double warmStartingFactor)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;