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disable keyboard toggle in Linux/X11

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revert num solver iterations to 50 (from 150)
set solver iterations for one gripper grasp to 150
This commit is contained in:
Erwin Coumans
2017-02-16 15:56:42 -08:00
parent 65deeee64b
commit 8f546acbe8
6 changed files with 17 additions and 5 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -799,7 +799,7 @@ void PhysicsServerCommandProcessor::createEmptyDynamicsWorld()
m_data->m_dynamicsWorld->getSolverInfo().m_erp2 = 0.08;
m_data->m_dynamicsWorld->getSolverInfo().m_linearSlop = 0.00001;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 150;
m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = 50;
m_data->m_dynamicsWorld->getSolverInfo().m_leastSquaresResidualThreshold = 1e-7;
// m_data->m_dynamicsWorld->getSolverInfo().m_minimumSolverBatchSize = 2;
//todo: islands/constraints are buggy in btMultiBodyDynamicsWorld! (performance + see slipping grasp)