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enable rolling/spinning friction for all contacts

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This commit is contained in:
Erwin Coumans
2019-12-23 10:39:39 -08:00
parent 3fa67ea7d4
commit c2d52750da
1 changed files with 2 additions and 2 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -1250,7 +1250,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
{ {
const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0()); const btMultiBodyLinkCollider* fcA = btMultiBodyLinkCollider::upcast(manifold->getBody0());
const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1()); const btMultiBodyLinkCollider* fcB = btMultiBodyLinkCollider::upcast(manifold->getBody1());
btMultiBody* mbA = fcA ? fcA->m_multiBody : 0; btMultiBody* mbA = fcA ? fcA->m_multiBody : 0;
btMultiBody* mbB = fcB ? fcB->m_multiBody : 0; btMultiBody* mbB = fcB ? fcB->m_multiBody : 0;
@@ -1270,7 +1270,7 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
// return; // return;
//only a single rollingFriction per manifold //only a single rollingFriction per manifold
int rollingFriction = 1; int rollingFriction = 4;
for (int j = 0; j < manifold->getNumContacts(); j++) for (int j = 0; j < manifold->getNumContacts(); j++)
{ {