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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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14
examples/pybullet/pybullet.c
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@@ -1469,12 +1469,14 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
int constraintSolverType=-1;
double globalCFM = -1;
int minimumSolverIslandSize = -1;
int physicsClientId = 0;
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "constraintSolverType", "globalCFM", "physicsClientId", NULL};
static char* kwlist[] = {"fixedTimeStep", "numSolverIterations", "useSplitImpulse", "splitImpulsePenetrationThreshold", "numSubSteps", "collisionFilterMode", "contactBreakingThreshold", "maxNumCmdPer1ms", "enableFileCaching","restitutionVelocityThreshold", "erp", "contactERP", "frictionERP", "enableConeFriction", "deterministicOverlappingPairs", "allowedCcdPenetration", "jointFeedbackMode", "solverResidualThreshold", "contactSlop", "enableSAT", "constraintSolverType", "globalCFM", "minimumSolverIslandSize", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiidi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &physicsClientId))
if (!PyArg_ParseTupleAndKeywords(args, keywds, "|diidiidiiddddiididdiiddi", kwlist, &fixedTimeStep, &numSolverIterations, &useSplitImpulse, &splitImpulsePenetrationThreshold, &numSubSteps,
&collisionFilterMode, &contactBreakingThreshold, &maxNumCmdPer1ms, &enableFileCaching, &restitutionVelocityThreshold, &erp, &contactERP, &frictionERP, &enableConeFriction, &deterministicOverlappingPairs, &allowedCcdPenetration, &jointFeedbackMode, &solverResidualThreshold, &contactSlop, &enableSAT, &constraintSolverType, &globalCFM, &minimumSolverIslandSize, &physicsClientId))
{
return NULL;
}
@@ -1495,6 +1497,12 @@ static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* ar
b3PhysicsParamSetNumSolverIterations(command, numSolverIterations);
}
if (minimumSolverIslandSize >= 0)
{
b3PhysicsParameterSetMinimumSolverIslandSize(command, minimumSolverIslandSize);
}
if (solverResidualThreshold>=0)
{
b3PhysicsParamSetSolverResidualThreshold(command, solverResidualThreshold);