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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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11
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp
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@@ -17,7 +17,7 @@ subject to the following restrictions:
#include "btDbvtBroadphase.h"
#include "LinearMath/btThreads.h"
btScalar gDbvtMargin = btScalar(0.05);
//
// Profiling
//
@@ -332,12 +332,9 @@ void btDbvtBroadphase::setAabb( btBroadphaseProxy* absproxy,
if(delta[0]<0) velocity[0]=-velocity[0];
if(delta[1]<0) velocity[1]=-velocity[1];
if(delta[2]<0) velocity[2]=-velocity[2];
if (
#ifdef DBVT_BP_MARGIN
m_sets[0].update(proxy->leaf,aabb,velocity,DBVT_BP_MARGIN)
#else
m_sets[0].update(proxy->leaf,aabb,velocity)
#endif
if (
m_sets[0].update(proxy->leaf, aabb, velocity, gDbvtMargin)
)
{
++m_updates_done;

3
src/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h
View File

@@ -29,7 +29,8 @@ subject to the following restrictions:
#define DBVT_BP_PREVENTFALSEUPDATE 0
#define DBVT_BP_ACCURATESLEEPING 0
#define DBVT_BP_ENABLE_BENCHMARK 0
#define DBVT_BP_MARGIN (btScalar)0.05
//#define DBVT_BP_MARGIN (btScalar)0.05
extern btScalar gDbvtMargin;
#if DBVT_BP_PROFILE
#define DBVT_BP_PROFILING_RATE 256