From 48d84e78993c0e9b8e1a47af67fe558eac2a67c3 Mon Sep 17 00:00:00 2001 From: erwincoumans Date: Wed, 27 Feb 2019 16:00:56 -0800 Subject: [PATCH] revert experiment not passing the constraint solver back down from btMultiBodyDynamicsWorld to btDiscreteDynamicsWorld. --- src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp index a81092782..1557987bc 100644 --- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp @@ -362,7 +362,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager:: }; btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) - : btDiscreteDynamicsWorld(dispatcher, pairCache, 0, collisionConfiguration), + : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration), m_multiBodyConstraintSolver(constraintSolver) { //split impulse is not yet supported for Featherstone hierarchies @@ -380,7 +380,7 @@ void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstrain { m_multiBodyConstraintSolver = solver; m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver); - //btDiscreteDynamicsWorld::setConstraintSolver(solver); + btDiscreteDynamicsWorld::setConstraintSolver(solver); } void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)