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expose maximum applied impulse for btMultiBody, introduced to reduce/avoid 'exploding' simulations

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use btScalar instead of float, to enable double precision build, fix for Issue 744
This commit is contained in:
erwin.coumans@gmail.com
2013-10-06 17:13:08 +00:00
parent 488dd44835
commit 34d975143e
6 changed files with 44 additions and 33 deletions
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11
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -323,11 +323,6 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
{
// btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,n_links-1,2,3);
if (0)
{
btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,1,500000);
world->addMultiBodyConstraint(con);
}
if (createConstraints)
{
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,i,-1,1);
@@ -338,6 +333,12 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
{
if (createConstraints)
{
if (1)
{
btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,500000);
world->addMultiBodyConstraint(con);
}
btMultiBodyConstraint* con = new btMultiBodyJointLimitConstraint(bod,i,-1,1);
world->addMultiBodyConstraint(con);
}