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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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7
examples/SharedMemory/b3RobotSimulatorClientAPI_NoDirect.h
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@@ -268,7 +268,8 @@ struct b3RobotSimulatorSetPhysicsEngineParameters : b3PhysicsSimulationParameter
m_frictionERP=-1;
m_solverResidualThreshold=-1;
m_constraintSolverType = -1;
m_minimumSolverIslandSize = -1;
}
};
@@ -285,6 +286,7 @@ struct b3RobotSimulatorChangeDynamicsArgs
double m_contactStiffness;
double m_contactDamping;
int m_frictionAnchor;
int m_activationState;
b3RobotSimulatorChangeDynamicsArgs()
: m_mass(-1),
@@ -296,7 +298,8 @@ struct b3RobotSimulatorChangeDynamicsArgs
m_angularDamping(-1),
m_contactStiffness(-1),
m_contactDamping(-1),
m_frictionAnchor(-1)
m_frictionAnchor(-1),
m_activationState(-1)
{}
};