Mocap bodies are the weld root of their own kinematic subtree.

PiperOrigin-RevId: 960212286 Change-Id: Ibeff129c3110576c8846c76ba6ab756f23c0fa2e
2026-08-06 04:09:41 -07:00
parent 0accc5b3c7
commit ed13bf5647
19 changed files with 260 additions and 63 deletions
@@ -1300,6 +1300,8 @@ criteria:
 - It comes into contact with an awake tree. Waking due to contact leads to collision detection being run *twice*, but
  only on the timestep when it occurs. This is required in order to detect contacts inside the island and between the
  island and the world, which were skipped in the first run when it was deemed asleep.
+- It comes into contact with a :ref:`mocap body<CMocap>`, or is connected to one by an active equality constraint.
+  Mocap bodies count as awake, since the user can move them at any time.
 - It is connected to an awake tree by an active equality constraint or limited tendon.
 - It is connected by an equality constraint to a sleeping tree in a different island. For this to occur, the equality
  must have been disabled when both trees were put to sleep.