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premake add enable_stable_pd option, so Bullet can be compiled without C++11 (Visual Studio 2010 etc)

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PyBullet: improve sleeping: if the base is static and all joints in the chain between this link and the base are fixed, then this link is static too (doesn't merge islands)
Fix PyBullet compilation of Visual Studion 2010
This commit is contained in:
erwincoumans committed 2019-08-07 21:57:05 -07:00
1 parent 098cde55fd
commit 226819b839
4 files changed
+219 -176
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examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+21
View File
@@ -660,6 +660,27 @@ btTransform ConvertURDF2BulletInternal(
if (mbLinkIndex >= 0) //???? double-check +/- 1
{
//if the base is static and all joints in the chain between this link and the base are fixed,
//then this link is static too (doesn't merge islands)
if (cache.m_bulletMultiBody->getBaseMass() == 0)
{
bool allJointsFixed = true;
int testLinkIndex = mbLinkIndex;
do
{
if (cache.m_bulletMultiBody->getLink(testLinkIndex).m_jointType != btMultibodyLink::eFixed)
{
allJointsFixed = false;
break;
}
testLinkIndex = cache.m_bulletMultiBody->getLink(testLinkIndex).m_parent;
} while (testLinkIndex> 0);
if (allJointsFixed)
{
col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);
}
}
cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider = col;
if (flags & CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
{