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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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src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
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@@ -90,7 +90,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
constraintRow.m_multiBodyA = m_bodyA;
constraintRow.m_multiBodyB = m_bodyB;
btScalar rel_vel = fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,0,0,1e30);
btScalar rel_vel = fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,0,-m_maxAppliedImpulse,m_maxAppliedImpulse);
{
btScalar penetration = getPosition(row);
btScalar positionalError = 0.f;