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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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src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -1406,6 +1406,7 @@ void btMultiBodyConstraintSolver::convertContacts(btPersistentManifold** manifol
btScalar btMultiBodyConstraintSolver::solveGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
//printf("btMultiBodyConstraintSolver::solveGroup: numBodies=%d, numConstraints=%d\n", numBodies, numConstraints);
return btSequentialImpulseConstraintSolver::solveGroup(bodies,numBodies,manifold,numManifolds,constraints,numConstraints,info,debugDrawer,dispatcher);
}
@@ -1656,6 +1657,8 @@ btScalar btMultiBodyConstraintSolver::solveGroupCacheFriendlyFinish(btCollisionO
void btMultiBodyConstraintSolver::solveMultiBodyGroup(btCollisionObject** bodies,int numBodies,btPersistentManifold** manifold,int numManifolds,btTypedConstraint** constraints,int numConstraints,btMultiBodyConstraint** multiBodyConstraints, int numMultiBodyConstraints, const btContactSolverInfo& info, btIDebugDraw* debugDrawer,btDispatcher* dispatcher)
{
//printf("solveMultiBodyGroup: numBodies=%d, numConstraints=%d, numManifolds=%d, numMultiBodyConstraints=%d\n", numBodies, numConstraints, numManifolds, numMultiBodyConstraints);
//printf("solveMultiBodyGroup start\n");
m_tmpMultiBodyConstraints = multiBodyConstraints;
m_tmpNumMultiBodyConstraints = numMultiBodyConstraints;