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picking shouldn't activate (wakeup) sleeping objects

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This commit is contained in:
erwincoumans
2018-06-01 09:34:18 -07:00
parent 8567f6bb7c
commit 2d40a18315
1 changed files with 17 additions and 14 deletions
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31
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9479,23 +9479,26 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject); btMultiBodyLinkCollider* multiCol = (btMultiBodyLinkCollider*)btMultiBodyLinkCollider::upcast(rayCallback.m_collisionObject);
if (multiCol && multiCol->m_multiBody) if (multiCol && multiCol->m_multiBody)
{ {
//todo: don't activate 'static' colliders/objects
if (!(multiCol->m_multiBody->getNumLinks()==0 && multiCol->m_multiBody->getBaseMass()==0))
{
m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep();
multiCol->m_multiBody->setCanSleep(false);
m_data->m_prevCanSleep = multiCol->m_multiBody->getCanSleep(); btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos);
multiCol->m_multiBody->setCanSleep(false);
btVector3 pivotInA = multiCol->m_multiBody->worldPosToLocal(multiCol->m_link, pickPos); btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos);
//if you add too much energy to the system, causing high angular velocities, simulation 'explodes'
//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949
//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply
//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
btScalar scaling=1;
p2p->setMaxAppliedImpulse(2*scaling);
btMultiBodyPoint2Point* p2p = new btMultiBodyPoint2Point(multiCol->m_multiBody,multiCol->m_link,0,pivotInA,pickPos); btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
//if you add too much energy to the system, causing high angular velocities, simulation 'explodes' world->addMultiBodyConstraint(p2p);
//see also http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?f=4&t=949 m_data->m_pickingMultiBodyPoint2Point =p2p;
//so we try to avoid it by clamping the maximum impulse (force) that the mouse pick can apply }
//it is not satisfying, hopefully we find a better solution (higher order integrator, using joint friction using a zero-velocity target motor with limited force etc?)
btScalar scaling=1;
p2p->setMaxAppliedImpulse(2*scaling);
btMultiBodyDynamicsWorld* world = (btMultiBodyDynamicsWorld*) m_data->m_dynamicsWorld;
world->addMultiBodyConstraint(p2p);
m_data->m_pickingMultiBodyPoint2Point =p2p;
} }
} }