diff options
Diffstat (limited to 'examples/SharedMemory/SharedMemoryPublic.h')
| -rw-r--r-- | examples/SharedMemory/SharedMemoryPublic.h | 23 |
1 files changed, 22 insertions, 1 deletions
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h index a569cbaf0..b2c2f6c68 100644 --- a/examples/SharedMemory/SharedMemoryPublic.h +++ b/examples/SharedMemory/SharedMemoryPublic.h @@ -903,7 +903,7 @@ struct b3PluginArguments struct b3PhysicsSimulationParameters { double m_deltaTime; - double m_simulationTimestamp; // Output only timestamp of simulation. + double m_simulationTimestamp; // user logging timestamp of simulation. double m_gravityAcceleration[3]; int m_numSimulationSubSteps; int m_numSolverIterations; @@ -929,8 +929,10 @@ struct b3PhysicsSimulationParameters int m_enableSAT; int m_constraintSolverType; int m_minimumSolverIslandSize; + int m_reportSolverAnalytics; }; + enum eConstraintSolverTypes { eConstraintSolverLCP_SI = 1, @@ -941,6 +943,25 @@ enum eConstraintSolverTypes eConstraintSolverLCP_BLOCK_PGS, }; +struct b3ForwardDynamicsAnalyticsIslandData +{ + int m_islandId; + int m_numBodies; + int m_numContactManifolds; + int m_numIterationsUsed; + double m_remainingLeastSquaresResidual; +}; + +#define MAX_ISLANDS_ANALYTICS 1024 + +struct b3ForwardDynamicsAnalyticsArgs +{ + int m_numSteps; + int m_numIslands; + int m_numSolverCalls; + struct b3ForwardDynamicsAnalyticsIslandData m_islandData[MAX_ISLANDS_ANALYTICS]; +}; + enum eFileIOActions { eAddFileIOAction = 1024,//avoid collision with eFileIOTypes |