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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/btMultiBodyDynamicsWorld.cpp
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@@ -352,7 +352,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
for (i=0;i<numCurMultiBodyConstraints;i++)
m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
if ((m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
if ((m_multiBodyConstraints.size()+m_constraints.size()+m_manifolds.size())>m_solverInfo->m_minimumSolverBatchSize)
{
processConstraints();
} else