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Merge pull request #3361 from erwincoumans/master

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@erwincoumans PyBullet: try to address activation/deactivation issue with fixed base multibody
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erwincoumans 2021-04-25 00:38:57 -07:00 committed by GitHub
commit 7f7238f630
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3 changed files with 7 additions and 3 deletions
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3
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@ -24,6 +24,7 @@ subject to the following restrictions:
#define WANTS_DEACTIVATION 3 #define WANTS_DEACTIVATION 3
#define DISABLE_DEACTIVATION 4 #define DISABLE_DEACTIVATION 4
#define DISABLE_SIMULATION 5 #define DISABLE_SIMULATION 5
#define FIXED_BASE_MULTI_BODY 6
struct btBroadphaseProxy; struct btBroadphaseProxy;
class btCollisionShape; class btCollisionShape;
@ -304,7 +305,7 @@ public:
SIMD_FORCE_INLINE bool isActive() const SIMD_FORCE_INLINE bool isActive() const
{ {
return ((getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION)); return ((getActivationState() != FIXED_BASE_MULTI_BODY) && (getActivationState() != ISLAND_SLEEPING) && (getActivationState() != DISABLE_SIMULATION));
} }
void setRestitution(btScalar rest) void setRestitution(btScalar rest)

5
src/BulletDynamics/Featherstone/btMultiBody.h
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@ -545,7 +545,10 @@ public:
{ {
m_canWakeup = canWakeup; m_canWakeup = canWakeup;
} }
bool isAwake() const { return m_awake; } bool isAwake() const
{
return m_awake;
}
void wakeUp(); void wakeUp();
void goToSleep(); void goToSleep();
void checkMotionAndSleepIfRequired(btScalar timestep); void checkMotionAndSleepIfRequired(btScalar timestep);

2
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@ -139,7 +139,7 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
{ {
if (body->hasFixedBase()) if (body->hasFixedBase())
{ {
col->setActivationState(ISLAND_SLEEPING); col->setActivationState(FIXED_BASE_MULTI_BODY);
} else } else
{ {
col->setActivationState(WANTS_DEACTIVATION); col->setActivationState(WANTS_DEACTIVATION);