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move the m_maxAppliedImpulse into base class, and use it for motor strength/point to point constraint strength

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erwin.coumans
2013-10-22 21:49:52 +00:00
parent f22ceecb82
commit 0024c87316
8 changed files with 25 additions and 22 deletions
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7
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -7,7 +7,8 @@ btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bod
m_linkA(linkA),
m_linkB(linkB),
m_num_rows(numRows),
m_isUnilateral(isUnilateral)
m_isUnilateral(isUnilateral),
m_maxAppliedImpulse(100)
{
m_jac_size_A = (6 + bodyA->getNumLinks());
m_jac_size_both = (m_jac_size_A + (bodyB ? 6 + bodyB->getNumLinks() : 0));
@@ -519,8 +520,8 @@ void btMultiBodyConstraint::fillMultiBodyConstraintMixed(btMultiBodySolverConstr
}
solverConstraint.m_cfm = 0.f;
solverConstraint.m_lowerLimit = 0;
solverConstraint.m_upperLimit = 1e10f;
solverConstraint.m_lowerLimit = -m_maxAppliedImpulse;
solverConstraint.m_upperLimit = m_maxAppliedImpulse;
}
}