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PyBullet: rename sleepObjectAutoDeactivation -> sleeping.py

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PyBullet: allow maximal coordinate rigid bodies to sleep/deactivate
This commit is contained in:
erwincoumans
2018-05-30 21:14:35 -07:00
parent 150a0e050e
commit 8567f6bb7c
3 changed files with 10 additions and 4 deletions
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2
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -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;
}

6
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -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);