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fix for 'useMaximalCoordinates' rigid body in PyBullet: activate a rigid body after picking

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This commit is contained in:
erwin coumans
2021-04-20 10:24:09 -07:00
parent 84a63cf221
commit 78f5b141f9
1 changed files with 5 additions and 0 deletions
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5
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -14602,7 +14602,12 @@ bool PhysicsServerCommandProcessor::pickBody(const btVector3& rayFromWorld, cons
{
m_data->m_pickedBody = body;
m_data->m_savedActivationState = body->getActivationState();
if (m_data->m_savedActivationState==ISLAND_SLEEPING)
{
m_data->m_savedActivationState = ACTIVE_TAG;
}
m_data->m_pickedBody->setActivationState(DISABLE_DEACTIVATION);
m_data->m_pickedBody->setDeactivationTime(0);
//printf("pickPos=%f,%f,%f\n",pickPos.getX(),pickPos.getY(),pickPos.getZ());
btVector3 localPivot = body->getCenterOfMassTransform().inverse() * pickPos;
btPoint2PointConstraint* p2p = new btPoint2PointConstraint(*body, localPivot);