sleeping#1369
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yuvaltassa
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Jun 2, 2026
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Consider adding a test which is equivalent to SleepingUnaffectedByWaking which I expect would have caught the one major bug I seem to have detected (if it indeed is a bug, maybe I misunderstood)
Also consider adding a multi-world sleeping test that has nworld > 1 with different sleep states in each world.
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hadn't pushed all of the changes -- files should be updated now |
yuvaltassa
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LGTM, feel free to ack and merge, but two tests that I think might be valuable:
- No
SleepPolicy.AUTO_NEVERtest: The code handles this but there's no test verifying a tree with this policy (eg a tree with actuators) never sleeps. - No multi-world test: Given the global contact indexing, a multi-world sleep test might be valuable.
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initial implementation of sleeping for constraint islands and the collision driver
based on #1303
*note: needed to use the primitive box<>box collider otherwise the blocks don't achieve the sleep tolerance
dominos.mp4