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set default sleeping threshold for useMaximalCoordinate btRigidBody to be similar to btMultiBody (0.05)

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erwin coumans
2021-04-20 11:14:28 -07:00
parent 78f5b141f9
commit fd154cee8f
1 changed files with 4 additions and 0 deletions
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4
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -33,6 +33,10 @@ class btRigidBody* MyMultiBodyCreator::allocateRigidBody(int urdfLinkIndex, btSc
{
btRigidBody::btRigidBodyConstructionInfo rbci(mass, 0, colShape, localInertiaDiagonal);
rbci.m_startWorldTransform = initialWorldTrans;
btScalar sleep_threshold = btScalar(0.22360679775);//sqrt(0.05) to be similar to btMultiBody (SLEEP_THRESHOLD)
rbci.m_angularSleepingThreshold = sleep_threshold;
rbci.m_linearSleepingThreshold = sleep_threshold;
btRigidBody* body = new btRigidBody(rbci);
if (m_rigidBody == 0)
{