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modify constraint setup so that contact constraints are persistent in a single CG solve but motor constraints are applied only once

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This commit is contained in:
Xuchen Han
2019-08-08 14:25:01 -07:00
parent deb7c152c4
commit 26983b05e2
2 changed files with 9 additions and 3 deletions
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4
examples/GraspDeformable/GraspDeformable.cpp
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@@ -402,8 +402,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor
{
//init the base
btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
float baseMass = .1f;
float linkMass = .1f;
float baseMass = 1.f;
float linkMass = 1.f;
int numLinks = 2;
if (baseMass)