Merge branch 'master' of https://github.com/erwincoumans/bullet3

examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp

@@ -33,7 +33,7 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
     btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
     rbci.m_startWorldTransform = initialWorldTrans;
     m_rigidBody = new btRigidBody(rbci);
-	m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
+	
 	
     return m_rigidBody;
 }

examples/Importers/ImportURDFDemo/URDF2Bullet.cpp

@@ -337,6 +337,12 @@ void ConvertURDF2BulletInternal(
         if (!createMultiBody)
         {
             btRigidBody* body = creation.allocateRigidBody(urdfLinkIndex, mass, localInertiaDiagonal, inertialFrameInWorldSpace, compoundShape);
+			bool canSleep = (flags & CUF_ENABLE_SLEEPING)!=0;
+			if (!canSleep)
+			{
+				body->forceActivationState(DISABLE_DEACTIVATION);
+			}
+
             linkRigidBody = body;
 
             world1->addRigidBody(body);
@@ -359,7 +365,7 @@ void ConvertURDF2BulletInternal(
             if (cache.m_bulletMultiBody==0)
             {
                 
-                bool canSleep = false;
+                bool canSleep = (flags & CUF_ENABLE_SLEEPING)!=0;
                 bool isFixedBase = (mass==0);//todo: figure out when base is fixed
                 int totalNumJoints = cache.m_totalNumJoints1;
                 cache.m_bulletMultiBody = creation.allocateMultiBody(urdfLinkIndex, totalNumJoints,mass, localInertiaDiagonal, isFixedBase, canSleep);

examples/Importers/ImportURDFDemo/URDF2Bullet.h

@@ -29,6 +29,7 @@ enum ConvertURDFFlags {
   CUF_GLOBAL_VELOCITIES_MB=256,
   CUF_MJCF_COLORS_FROM_FILE=512,
   CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
+  CUF_ENABLE_SLEEPING=2048,
 };
 
 struct UrdfVisualShapeCache

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -2301,7 +2301,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
     m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
 
 	m_data->m_dynamicsWorld->getSolverInfo().m_frictionERP = 0.2;//need to check if there are artifacts with frictionERP
-	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
+	m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0;
 	m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
 	m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
 //	m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;

examples/SharedMemory/SharedMemoryPublic.h

@@ -684,6 +684,7 @@ enum eURDF_Flags
 	URDF_GLOBAL_VELOCITIES_MB =256,
 	MJCF_COLORS_FROM_FILE=512,
 	URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
+    URDF_ENABLE_SLEEPING=2048,
 };
 
 enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes

examples/pybullet/examples/sleeping.py

@@ -0,0 +1,25 @@
+import pybullet as p
+import time
+useMaximalCoordinates=False
+
+flags = p.URDF_ENABLE_SLEEPING
+
+p.connect(p.GUI)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+
+p.loadURDF("plane100.urdf",flags=flags, useMaximalCoordinates=useMaximalCoordinates)
+#p.loadURDF("cube_small.urdf", [0,0,0.5], flags=flags)
+for k in range (5):
+	for i in range (5):
+		r2d2=p.loadURDF("r2d2.urdf",[k*2,i*2,1], useMaximalCoordinates=useMaximalCoordinates, flags=p.URDF_ENABLE_CACHED_GRAPHICS_SHAPES+flags)
+		for j in range (p.getNumJoints(r2d2)):
+			p.setJointMotorControl2(r2d2,j,p.VELOCITY_CONTROL,targetVelocity=0)
+
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+timestep = 1./240.
+p.setTimeStep(timestep)
+p.setGravity(0,0,-10)
+
+while p.isConnected():
+	p.stepSimulation()
+	time.sleep(timestep)

examples/pybullet/pybullet.c

@@ -9313,6 +9313,7 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "URDF_GLOBAL_VELOCITIES_MB", URDF_GLOBAL_VELOCITIES_MB);
 	PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
 	PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
+	PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
 
 
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);