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expose pybullet.changeDynamics(sleepThreshold), default 0.05, for both useMaximalCoordinates=False and True
When the dot(vel,vel) < sleepThreshold for longer than 2 seconds (this timeout is hard coded) objects that have the ACTIVATION_STATE_ENABLE_SLEEPING enabled with be deactivated
Example:
p.changeDynamics(ob, -1, activationState=p.ACTIVATION_STATE_ENABLE_SLEEPING, sleepThreshold=0.05)
This commit is contained in:
erwin coumans
2021-04-20 11:29:27 -07:00
parent fd154cee8f
commit e58e5bdf95
8 changed files with 113 additions and 7 deletions
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12
examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -3305,6 +3305,18 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetJointLimitForce(b3SharedMemoryCommandHa
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetSleepThreshold(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, double sleepThreshold)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
command->m_changeDynamicsInfoArgs.m_sleepThreshold = sleepThreshold;
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD;
return 0;
}
B3_SHARED_API int b3ChangeDynamicsInfoSetDynamicType(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkIndex, int dynamicType)
{
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;