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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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13
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.cpp
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@@ -1353,6 +1353,10 @@ bool b3RobotSimulatorClientAPI_NoDirect::changeDynamics(int bodyUniqueId, int li
b3SharedMemoryCommandHandle command = b3InitChangeDynamicsInfo(sm);
b3SharedMemoryStatusHandle statusHandle;
if (args.m_activationState >= 0)
{
b3ChangeDynamicsInfoSetActivationState(command, bodyUniqueId,args.m_activationState);
}
if (args.m_mass >= 0) {
b3ChangeDynamicsInfoSetMass(command, bodyUniqueId, linkIndex, args.m_mass);
}
@@ -1714,6 +1718,15 @@ bool b3RobotSimulatorClientAPI_NoDirect::setPhysicsEngineParameter(const struct
b3PhysicsParamSetSolverResidualThreshold(command, args.m_solverResidualThreshold);
}
if (args.m_constraintSolverType >= 0)
{
b3PhysicsParameterSetConstraintSolverType(command, args.m_constraintSolverType);
}
if (args.m_minimumSolverIslandSize >= 0)
{
b3PhysicsParameterSetMinimumSolverIslandSize(command, args.m_minimumSolverIslandSize);
}
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
return true;
}