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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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41
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6599,6 +6599,26 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
btMultiBody* mb = body->m_multiBody;
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
{
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateWakeUp)
{
mb->wakeUp();
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateSleep)
{
mb->goToSleep();
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateEnableSleeping)
{
mb->setCanSleep(true);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateDisableSleeping)
{
mb->setCanSleep(false);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
{
mb->setLinearDamping(clientCmd.m_changeDynamicsInfoArgs.m_linearDamping);
@@ -6724,6 +6744,27 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
{
if (body && body->m_rigidBody)
{
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ACTIVATION_STATE)
{
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateEnableSleeping)
{
body->m_rigidBody->forceActivationState(ACTIVE_TAG);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateDisableSleeping)
{
body->m_rigidBody->forceActivationState(DISABLE_DEACTIVATION);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateWakeUp)
{
body->m_rigidBody->forceActivationState(ACTIVE_TAG);
}
if (clientCmd.m_changeDynamicsInfoArgs.m_activationState&eActivationStateSleep)
{
body->m_rigidBody->forceActivationState(ISLAND_SLEEPING);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING)
{
btScalar angDamping = body->m_rigidBody->getAngularDamping();