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expose PyBullet API to wakeup/put objects to sleep, enable/disable deactivation

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fix wakeup -> reset deactivation clock
This commit is contained in:
Erwin Coumans
2018-06-15 21:26:26 -07:00
parent bb0d70d98b
commit fbbd675ed6
8 changed files with 86 additions and 6 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -2443,8 +2443,16 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetContactProcessingThreshold(b3SharedMemo
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetActivationState(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int activationState)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
command->m_changeDynamicsInfoArgs.m_activationState = activationState;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE;
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3InitCreateUserConstraintCommand(b3PhysicsClientHandle physClient, int parentBodyUniqueId, int parentJointIndex, int childBodyUniqueId, int childJointIndex, struct b3JointInfo* info)