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Merge branch 'master' into fix-kcc

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This commit is contained in:
Jan Hohenheim
2023-02-04 21:31:02 +01:00
parent 760ea8d498 2e929bbcab
commit e69f7534d7
2 changed files with 7 additions and 4 deletions
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3
src/dynamics/island_manager.rs
View File

@@ -176,8 +176,7 @@ impl IslandManager {
update_energy(&mut rb.activation, sq_linvel, sq_angvel, dt);
if rb.activation.time_since_can_sleep >= RigidBodyActivation::default_time_until_sleep()
{
if rb.activation.time_since_can_sleep >= rb.activation.time_until_sleep {
// Mark them as sleeping for now. This will
// be set to false during the graph traversal
// if it should not be put to sleep.

8
src/dynamics/rigid_body_components.rs
View File

@@ -978,6 +978,8 @@ pub struct RigidBodyActivation {
pub linear_threshold: Real,
/// The angular linear velocity bellow which the body can fall asleep.
pub angular_threshold: Real,
/// The amount of time the rigid-body must remain below the thresholds to be put to sleep.
pub time_until_sleep: Real,
/// Since how much time can this body sleep?
pub time_since_can_sleep: Real,
/// Is this body sleeping?
@@ -1012,6 +1014,7 @@ impl RigidBodyActivation {
RigidBodyActivation {
linear_threshold: Self::default_linear_threshold(),
angular_threshold: Self::default_angular_threshold(),
time_until_sleep: Self::default_time_until_sleep(),
time_since_can_sleep: 0.0,
sleeping: false,
}
@@ -1022,8 +1025,9 @@ impl RigidBodyActivation {
RigidBodyActivation {
linear_threshold: Self::default_linear_threshold(),
angular_threshold: Self::default_angular_threshold(),
sleeping: true,
time_until_sleep: Self::default_time_until_sleep(),
time_since_can_sleep: Self::default_time_until_sleep(),
sleeping: true,
}
}
@@ -1055,6 +1059,6 @@ impl RigidBodyActivation {
#[inline]
pub fn sleep(&mut self) {
self.sleeping = true;
self.time_since_can_sleep = Self::default_time_until_sleep();
self.time_since_can_sleep = self.time_until_sleep;
}
}