From 4d6a95017e493458bed141f682621830b203bb4e Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 15 Sep 2016 23:11:27 +0100 Subject: [PATCH] default contact erp (m_erp2) was too low in physics server causing gripper to penetrate box --- examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp index 0d94d0b8e..6d2cfd3e0 100644 --- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp +++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp @@ -593,7 +593,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld() m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, 0)); - m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.005; + m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.05; } void PhysicsServerCommandProcessor::deleteCachedInverseDynamicsBodies()