From 3627407041209f3aaf7aa14f2f1de7e303b72869 Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Tue, 7 Aug 2018 15:27:54 -0700 Subject: [PATCH] Remove Lemke from SerialChains demo --- examples/MultiBody/SerialChains.cpp | 11 +++-------- 1 file changed, 3 insertions(+), 8 deletions(-) diff --git a/examples/MultiBody/SerialChains.cpp b/examples/MultiBody/SerialChains.cpp index ac545662c..a2bb91048 100644 --- a/examples/MultiBody/SerialChains.cpp +++ b/examples/MultiBody/SerialChains.cpp @@ -3,7 +3,6 @@ #include "btBulletDynamicsCommon.h" #include "BulletDynamics/MLCPSolvers/btDantzigSolver.h" -#include "BulletDynamics/MLCPSolvers/btLemkeSolver.h" #include "BulletDynamics/MLCPSolvers/btSolveProjectedGaussSeidel.h" #include "BulletDynamics/Featherstone/btMultiBody.h" @@ -89,7 +88,7 @@ void SerialChains::initPhysics() m_broadphase = new btDbvtBroadphase(); - if (g_constraintSolverType == 4) + if (g_constraintSolverType == 3) { g_constraintSolverType = 0; g_fixedBase = !g_fixedBase; @@ -107,22 +106,18 @@ void SerialChains::initPhysics() m_solver = new btMultiBodyMLCPConstraintSolver(mlcp); b3Printf("Constraint Solver: MLCP + PGS"); break; - case 2: + default: mlcp = new btDantzigSolver(); m_solver = new btMultiBodyMLCPConstraintSolver(mlcp); b3Printf("Constraint Solver: MLCP + Dantzig"); break; - default: - mlcp = new btLemkeSolver(); - m_solver = new btMultiBodyMLCPConstraintSolver(mlcp); - b3Printf("Constraint Solver: MLCP + Lemke"); - break; } btMultiBodyDynamicsWorld* world = new btMultiBodyDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration); m_dynamicsWorld = world; m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld); m_dynamicsWorld->setGravity(btVector3(0, -10, 0)); + m_dynamicsWorld->getSolverInfo().m_globalCfm = btScalar(1e-4); //todo: what value is good? ///create a few basic rigid bodies btVector3 groundHalfExtents(50, 50, 50);