diff options
Diffstat (limited to 'examples/pybullet/pybullet.c')
| -rw-r--r-- | examples/pybullet/pybullet.c | 13 |
1 files changed, 10 insertions, 3 deletions
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c index 9f59c79d8..b570e69bc 100644 --- a/examples/pybullet/pybullet.c +++ b/examples/pybullet/pybullet.c @@ -1567,8 +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", @@ -1592,10 +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; } @@ -1712,6 +1715,10 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar { b3PhysicsParamSetDefaultGlobalCFM(command, globalCFM); } + if (reportSolverAnalytics >= 0) + { + b3PhysicsParamSetSolverAnalytics(command, reportSolverAnalytics); + } statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command); } |