export object auto-deactivation (sleeping) to pybullet (needs some more testing/configuring)

2018-05-30 18:37:08 -07:00
parent 14c6dee6a3
commit 491ecf2a20
5 changed files with 29 additions and 1 deletions
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -359,7 +359,7 @@ 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);