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backport bullet-featherstone default solver iteration setting #619

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merged 4 commits into from
Apr 16, 2024
Merged

backport bullet-featherstone default solver iteration setting #619

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0b7a7ee
backport bullet-featherstone solver iters
iche033 Apr 8, 2024
b0f9dc9
Merge branch 'gz-physics7' into bullet_solver_iters_7
iche033 Apr 10, 2024
af36d0f
Merge branch 'gz-physics7' into bullet_solver_iters_7
iche033 Apr 15, 2024
97f5f15
Merge branch 'gz-physics7' into bullet_solver_iters_7
iche033 Apr 16, 2024
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11 changes: 8 additions & 3 deletions bullet-featherstone/src/Base.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -45,10 +45,15 @@ WorldInfo::WorldInfo(std::string name_)

// By default a large impulse is applied when collisions penetrate
// which causes unstable behavior. Bullet featherstone does not support
// configuring split impulse and penetration threshold parameters. Instead the
// penentration impulse depends on the erp2 parameter so set to a small value
// (default is 0.2).
// configuring split impulse and penetration threshold parameters. Instead
// the penentration impulse depends on the erp2 parameter so set to a small
// value (default in bullet is 0.2).
this->world->getSolverInfo().m_erp2 = btScalar(0.002);

// Set solver iterations to the same as the default value in SDF,
// //world/physics/solver/bullet/iters
// (default in bullet is 10)
this->world->getSolverInfo().m_numIterations = 50u;
}

} // namespace bullet_featherstone
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