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make GLUT optional in cmake

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fix for btMultiBody to avoid extreme energy gain
This commit is contained in:
Erwin Coumans
2014-03-17 23:58:03 -07:00
parent 9f92232640
commit cfb06f9cd3
51 changed files with 464 additions and 27 deletions
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7
ObsoleteDemos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -285,7 +285,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
btVector3 inertia = btVector3 (91,344,253)*scaling*scaling;
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep);
bool multiDof = false;
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, settings.m_isFixedBase, settings.m_canSleep,multiDof);
// bod->setHasSelfCollision(false);
//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
@@ -360,7 +361,7 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
{
if (1)
{
btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,500000);
btMultiBodyJointMotor* con = new btMultiBodyJointMotor(bod,i,0,0,500000);
world->addMultiBodyConstraint(con);
}
@@ -447,6 +448,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
}
}
world->addMultiBody(bod);
return bod;