diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp | 13 |
1 files changed, 8 insertions, 5 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index 7cb92fa3b4..d7588aedc8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -33,8 +33,8 @@ namespace { -const btScalar SLEEP_EPSILON = btScalar(0.05); // this is a squared velocity (m^2 s^-2) -const btScalar SLEEP_TIMEOUT = btScalar(2); // in seconds +const btScalar INITIAL_SLEEP_EPSILON = btScalar(0.05); // this is a squared velocity (m^2 s^-2) +const btScalar INITIAL_SLEEP_TIMEOUT = btScalar(2); // in seconds } // namespace void btMultiBody::spatialTransform(const btMatrix3x3 &rotation_matrix, // rotates vectors in 'from' frame to vectors in 'to' frame @@ -110,6 +110,9 @@ btMultiBody::btMultiBody(int n_links, m_canSleep(canSleep), m_canWakeup(true), m_sleepTimer(0), + m_sleepEpsilon(INITIAL_SLEEP_EPSILON), + m_sleepTimeout(INITIAL_SLEEP_TIMEOUT), + m_userObjectPointer(0), m_userIndex2(-1), m_userIndex(-1), @@ -1411,7 +1414,7 @@ void btMultiBody::solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionV } } -void btMultiBody::mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const +void btMultiBody::mulMatrix(const btScalar *pA, const btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const { for (int row = 0; row < rowsA; row++) { @@ -2104,10 +2107,10 @@ void btMultiBody::checkMotionAndSleepIfRequired(btScalar timestep) motion += m_realBuf[i] * m_realBuf[i]; } - if (motion < SLEEP_EPSILON) + if (motion < m_sleepEpsilon) { m_sleepTimer += timestep; - if (m_sleepTimer > SLEEP_TIMEOUT) + if (m_sleepTimer > m_sleepTimeout) { goToSleep(); } |