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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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29
src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
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@@ -68,13 +68,16 @@ int btMultiBodySliderConstraint::getIslandIdA() const
if (m_bodyA)
{
btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
if (col)
return col->getIslandTag();
for (int i=0;i<m_bodyA->getNumLinks();i++)
if (m_linkA < 0)
{
if (m_bodyA->getLink(i).m_collider)
return m_bodyA->getLink(i).m_collider->getIslandTag();
btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
if (col)
return col->getIslandTag();
}
else
{
if (m_bodyA->getLink(m_linkA).m_collider)
return m_bodyA->getLink(m_linkA).m_collider->getIslandTag();
}
}
return -1;
@@ -86,20 +89,20 @@ int btMultiBodySliderConstraint::getIslandIdB() const
return m_rigidBodyB->getIslandTag();
if (m_bodyB)
{
btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
for (int i=0;i<m_bodyB->getNumLinks();i++)
if (m_linkB < 0)
{
col = m_bodyB->getLink(i).m_collider;
btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
}
else
{
if (m_bodyB->getLink(m_linkB).m_collider)
return m_bodyB->getLink(m_linkB).m_collider->getIslandTag();
}
}
return -1;
}
void btMultiBodySliderConstraint::createConstraintRows(btMultiBodyConstraintArray& constraintRows, btMultiBodyJacobianData& data, const btContactSolverInfo& infoGlobal)
{
// Convert local points back to world