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Fix some deactivation issues with btMultiBodyDynamicsWorld, should also improve performance for PyBullet with larger worlds

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(even when sleeping is disabled, islands are split)
This commit is contained in:
Erwin Coumans
2018-08-26 16:14:36 -07:00
parent 3036a6d2bc
commit ff43cea263
19 changed files with 162 additions and 93 deletions
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5
examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
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@@ -610,9 +610,10 @@ void ConvertURDF2BulletInternal(
}
} else
{
if (canSleep)
// if (canSleep)
{
if (cache.m_bulletMultiBody->getBaseMass()==0 && cache.m_bulletMultiBody->getNumDofs()==0)
if (cache.m_bulletMultiBody->getBaseMass()==0)
//&& cache.m_bulletMultiBody->getNumDofs()==0)
{
//col->setCollisionFlags(btCollisionObject::CF_KINEMATIC_OBJECT);
col->setCollisionFlags(btCollisionObject::CF_STATIC_OBJECT);