From 49eb83c24e3b984c1560ffe081beb44a258c08d7 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Tue, 5 Jun 2018 12:20:42 -0700 Subject: [PATCH] Avoid static multibody to activate/wake up sleeping objects. Couldn't reproduce an issue related to this. --- examples/Importers/ImportURDFDemo/URDF2Bullet.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp index 6e02c7b05..f0fc38487 100644 --- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp +++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp @@ -595,11 +595,13 @@ void ConvertURDF2BulletInternal( } } else { - //todo: fix the crash it can cause - //if (cache.m_bulletMultiBody->getBaseMass()==0) - //{ - // col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);//:CF_STATIC_OBJECT); - //} + if (cache.m_bulletMultiBody->getBaseMass()==0) + { + //col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT); + col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT); + } + + cache.m_bulletMultiBody->setBaseCollider(col); } }