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Merge branch 'master' of github.com:erwincoumans/bullet3

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This commit is contained in:
Erwin Coumans
2021-04-22 20:41:45 -07:00
parent 83a5fe2d31 6cb72b5128
commit fc2992b75a
4 changed files with 12 additions and 2 deletions
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2
build_visual_studio_vr_pybullet_double_cmake.bat
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@@ -1,4 +1,4 @@
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 16 2019" ..
cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python38\include -DPYTHON_LIBRARY=c:\python38\libs\python38.lib -DPYTHON_DEBUG_LIBRARY=c:\python38\libs\python38.lib -G "Visual Studio 16 2019" ..
start .

3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -2771,6 +2771,9 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld(int flags)
#endif
}
//may help improve run-time performance for many sleeping objects
m_data->m_dynamicsWorld->setForceUpdateAllAabbs(false);
//Workaround: in a VR application, where we avoid synchronizing between GFX/Physics threads, we don't want to resize this array, so pre-allocate it
m_data->m_dynamicsWorld->getCollisionObjectArray().reserve(128 * 1024);

0
examples/pybullet/gym/pybullet_data/toys/LICENSE.txt → examples/pybullet/gym/pybullet_data/toys/LICENSE
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9
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -137,7 +137,14 @@ void btMultiBodyDynamicsWorld::updateActivationState(btScalar timeStep)
btMultiBodyLinkCollider* col = body->getBaseCollider();
if (col && col->getActivationState() == ACTIVE_TAG)
{
col->setActivationState(WANTS_DEACTIVATION);
if (body->hasFixedBase())
{
col->setActivationState(ISLAND_SLEEPING);
} else
{
col->setActivationState(WANTS_DEACTIVATION);
}
col->setDeactivationTime(0.f);
}
for (int b = 0; b < body->getNumLinks(); b++)