From 404e4b9187d9d437752f8629020c0094f20c18f1 Mon Sep 17 00:00:00 2001 From: Chuyuan Fu Date: Thu, 24 Oct 2019 15:53:18 -0700 Subject: [PATCH] align multibody warmstart default value with rigidbody --- src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h index 298fb102f..cc5314282 100644 --- a/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h +++ b/src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h @@ -90,7 +90,7 @@ struct btContactSolverInfo : public btContactSolverInfoData m_splitImpulseTurnErp = 0.1f; m_linearSlop = btScalar(0.0); m_warmstartingFactor = btScalar(0.85); - m_articulatedWarmstartingFactor = btScalar(1); + m_articulatedWarmstartingFactor = btScalar(0.85); //m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD | SOLVER_DISABLE_VELOCITY_DEPENDENT_FRICTION_DIRECTION|SOLVER_USE_2_FRICTION_DIRECTIONS|SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;// | SOLVER_RANDMIZE_ORDER; m_solverMode = SOLVER_USE_WARMSTARTING | SOLVER_SIMD; // | SOLVER_RANDMIZE_ORDER; m_restingContactRestitutionThreshold = 2; //unused as of 2.81