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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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4
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
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@@ -62,6 +62,8 @@ struct btContactSolverInfoData
btScalar m_singleAxisRollingFrictionThreshold;
btScalar m_leastSquaresResidualThreshold;
btScalar m_restitutionVelocityThreshold;
bool m_jointFeedbackInWorldSpace;
bool m_jointFeedbackInJointFrame;
};
struct btContactSolverInfo : public btContactSolverInfoData
@@ -94,6 +96,8 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_singleAxisRollingFrictionThreshold = 1e30f; ///if the velocity is above this threshold, it will use a single constraint row (axis), otherwise 3 rows.
m_leastSquaresResidualThreshold = 0.f;
m_restitutionVelocityThreshold = 0.2f; //if the relative velocity is below this threshold, there is zero restitution
m_jointFeedbackInWorldSpace = false;
m_jointFeedbackInJointFrame = false;
}
};