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PyBullet:

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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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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+13
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@@ -9751,6 +9751,11 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
mb->setAngularDamping(clientCmd.m_changeDynamicsInfoArgs.m_angularDamping);
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD)
{
mb->setSleepThreshold(clientCmd.m_changeDynamicsInfoArgs.m_sleepThreshold);
}
if (linkIndex == -1)
{
if (mb->getBaseCollider())
@@ -10035,6 +10040,7 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
btRigidBody* rb = 0;
if (body && body->m_rigidBody)
{
if (linkIndex == -1)
{
rb = body->m_rigidBody;
@@ -10170,6 +10176,13 @@ bool PhysicsServerCommandProcessor::processChangeDynamicsInfoCommand(const struc
m_data->m_dynamicsWorld->addCollisionObject(rb, collisionFilterGroup, collisionFilterMask);
}
}
if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SLEEP_THRESHOLD)
{
btScalar threshold2 = btSqrt(clientCmd.m_changeDynamicsInfoArgs.m_sleepThreshold);
rb->setSleepingThresholds(threshold2,threshold2);
}
}
}
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD