From fd154cee8f352b9e23c73b2c87dac4bdf27ad016 Mon Sep 17 00:00:00 2001
From: erwin coumans <erwin.coumans@gmail.com>
Date: Tue, 20 Apr 2021 11:14:28 -0700
Subject: [PATCH] set default sleeping threshold for useMaximalCoordinate
 btRigidBody to be similar to btMultiBody (0.05)

---
 examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index e41ef7881..815e8b9bf 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -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)
 	{