PyBullet: rename sleepObjectAutoDeactivation -> sleeping.py

PyBullet: allow maximal coordinate rigid bodies to sleep/deactivate
2018-05-30 21:14:35 -07:00
parent 150a0e050e
commit 8567f6bb7c
3 changed files with 10 additions and 4 deletions
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/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);