diff options
Diffstat (limited to 'examples/pybullet/pybullet.c')
| -rw-r--r-- | examples/pybullet/pybullet.c | 35 |
1 files changed, 32 insertions, 3 deletions
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 0df3f14da..9946da3cf 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -330,6 +330,28 @@ static PyObject* pybullet_stepSimulation(PyObject* self, PyObject* args, PyObjec statusHandle = b3SubmitClientCommandAndWaitStatus( sm, b3InitStepSimulationCommand(sm)); statusType = b3GetStatusType(statusHandle); + + if (statusType == CMD_STEP_FORWARD_SIMULATION_COMPLETED) + { + struct b3ForwardDynamicsAnalyticsArgs analyticsData; + int numIslands = 0; + int i; + numIslands = b3GetStatusForwardDynamicsAnalyticsData(statusHandle, &analyticsData); + + PyObject* pyAnalyticsData = PyTuple_New(numIslands); + for (i=0;i<numIslands;i++) + { + int numFields = 4; + PyObject* pyIslandData = PyTuple_New(numFields); + PyTuple_SetItem(pyIslandData, 0, PyLong_FromLong(analyticsData.m_islandData[i].m_islandId)); + PyTuple_SetItem(pyIslandData, 1, PyLong_FromLong(analyticsData.m_islandData[i].m_numBodies)); + PyTuple_SetItem(pyIslandData, 2, PyLong_FromLong(analyticsData.m_islandData[i].m_numIterationsUsed)); + PyTuple_SetItem(pyIslandData, 3, PyFloat_FromDouble(analyticsData.m_islandData[i].m_remainingLeastSquaresResidual)); + PyTuple_SetItem(pyAnalyticsData, i, pyIslandData); + } + + return pyAnalyticsData; + } } } @@ -1545,8 +1567,9 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar double globalCFM = -1; int minimumSolverIslandSize = -1; - + int reportSolverAnalytics = -1; int physicsClientId = 0; + static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", @@ -1570,10 +1593,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar "constraintSolverType", "globalCFM", "minimumSolverIslandSize", + "reportSolverAnalytics", "physicsClientId", NULL}; - if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps, - &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId)) + if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidiii", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps, + &collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, + &reportSolverAnalytics, &physicsClientId)) { return NULL; } @@ -1690,6 +1715,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar { b3PhysicsParamSetDefaultGlobalCFM(command, globalCFM); } + if (reportSolverAnalytics >= 0) + { + b3PhysicsParamSetSolverAnalytics(command, reportSolverAnalytics); + } statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); } |