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move global from btMultiBody into dynamicsWorld.getSolverInfo

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This commit is contained in:
Erwin Coumans
2018-11-05 10:50:03 -08:00
parent ac18c95ea1
commit 882252f8c0
9 changed files with 64 additions and 48 deletions
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9
examples/MultiBody/InvertedPendulumPDControl.cpp
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@@ -48,9 +48,6 @@ InvertedPendulumPDControl::~InvertedPendulumPDControl()
{
}
///this is a temporary global, until we determine if we need the option or not
extern bool gJointFeedbackInWorldSpace;
extern bool gJointFeedbackInJointFrame;
btMultiBody* createInvertedPendulumMultiBody(btMultiBodyDynamicsWorld* world, GUIHelperInterface* guiHelper, const btTransform& baseWorldTrans, bool fixedBase)
{
@@ -315,8 +312,10 @@ void InvertedPendulumPDControl::initPhysics()
}
int upAxis = 1;
gJointFeedbackInWorldSpace = true;
gJointFeedbackInJointFrame = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInWorldSpace = true;
m_dynamicsWorld->getSolverInfo().m_jointFeedbackInJointFrame = true;
m_guiHelper->setUpAxis(upAxis);