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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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6
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9355,6 +9355,7 @@ bool PhysicsServerCommandProcessor::processRequestPhysicsSimulationParametersCom
serverCmd.m_simulationParameterResultArgs.m_numSimulationSubSteps = m_data->m_numSimulationSubSteps;
serverCmd.m_simulationParameterResultArgs.m_numSolverIterations = m_data->m_dynamicsWorld->getSolverInfo().m_numIterations;
serverCmd.m_simulationParameterResultArgs.m_numMotorIterations = m_data->m_dynamicsWorld->getSolverInfo().m_numMotorIterations;
serverCmd.m_simulationParameterResultArgs.m_restitutionVelocityThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_restitutionVelocityThreshold;
serverCmd.m_simulationParameterResultArgs.m_solverResidualThreshold = m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold;
@@ -9453,6 +9454,11 @@ 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_SOLVER_RESIDULAL_THRESHOLD)
{