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| author | erwincoumans <erwincoumans@google.com> | 2021-04-22 21:29:43 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-04-22 21:29:43 -0700 |
| commit | e0b9bc6d7f0691bd88b758a7e94c7948bf315aa7 (patch) | |
| tree | fa4e789aa5eb64762ee05043d7e8b81e48f70679 | |
| parent | 45d3ead7470515278807a833db41713b6dce84ca (diff) | |
| parent | 1f6baad97465b115f7a71595d21bb9b1400c9d0f (diff) | |
| download | bullet3-e0b9bc6d7f0691bd88b758a7e94c7948bf315aa7.tar.gz | |
Merge pull request #3357 from erwincoumans/master
fixed base should set activation state to 'ISLAND_SLEEPING'
| -rw-r--r-- | build_visual_studio_vr_pybullet_double_cmake.bat | 2 | ||||
| -rw-r--r-- | setup.py | 2 | ||||
| -rw-r--r-- | src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 9 |
3 files changed, 10 insertions, 3 deletions
diff --git a/build_visual_studio_vr_pybullet_double_cmake.bat b/build_visual_studio_vr_pybullet_double_cmake.bat index 32cd01735..aaa1f9cc1 100644 --- a/build_visual_studio_vr_pybullet_double_cmake.bat +++ b/build_visual_studio_vr_pybullet_double_cmake.bat @@ -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 .
\ No newline at end of file @@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS: setup( name='pybullet', - version='3.1.4', + version='3.1.5', description= 'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning', long_description= diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index fef95f0c4..9f304929c 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -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++) |