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revert experiment not passing the constraint solver back down from btMultiBodyDynamicsWorld to btDiscreteDynamicsWorld.

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erwincoumans
2019-02-27 16:00:56 -08:00
parent d7e087de16
commit 48d84e7899
1 changed files with 2 additions and 2 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -362,7 +362,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
}; };
btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration) btMultiBodyDynamicsWorld::btMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration)
: btDiscreteDynamicsWorld(dispatcher, pairCache, 0, collisionConfiguration), : btDiscreteDynamicsWorld(dispatcher, pairCache, constraintSolver, collisionConfiguration),
m_multiBodyConstraintSolver(constraintSolver) m_multiBodyConstraintSolver(constraintSolver)
{ {
//split impulse is not yet supported for Featherstone hierarchies //split impulse is not yet supported for Featherstone hierarchies
@@ -380,7 +380,7 @@ void btMultiBodyDynamicsWorld::setMultiBodyConstraintSolver(btMultiBodyConstrain
{ {
m_multiBodyConstraintSolver = solver; m_multiBodyConstraintSolver = solver;
m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver); m_solverMultiBodyIslandCallback->setMultiBodyConstraintSolver(solver);
//btDiscreteDynamicsWorld::setConstraintSolver(solver); btDiscreteDynamicsWorld::setConstraintSolver(solver);
} }
void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver) void btMultiBodyDynamicsWorld::setConstraintSolver(btConstraintSolver* solver)