Fixing units bug in dynamics simulator

git-svn-id: http://svn.code.sf.net/p/simox/code/trunk@332 042f3d55-54a8-47e9-b7fb-15903f145c44

SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.cpp

@@ -18,6 +18,8 @@ namespace SimDynamics
 
 BulletCoinQtViewer::BulletCoinQtViewer(DynamicsWorldPtr world)
 {
+	bulletMaxSubSteps = 10;
+
 	const float TIMER_MS = 30.0f;
 
 	SIMDYNAMICS_ASSERT(world);
@@ -138,7 +140,7 @@ void BulletCoinQtViewer::stepPhysics()
 		bulletEngine->activateAllObjects(); // avoid sleeping objects
 		updateMotors(dt1);
 
-		bulletEngine->getBulletWorld()->stepSimulation(dt1,4);
+		bulletEngine->getBulletWorld()->stepSimulation(dt1,bulletMaxSubSteps);
 
 		//optional but useful: debug drawing
 		//m_dynamicsWorld->debugDrawWorld();
@@ -251,4 +253,11 @@ void BulletCoinQtViewer::stopCB()
 	}
 }
 
+void BulletCoinQtViewer::setBulletSimMaxSubSteps(int n)
+{
+	VR_ASSERT(n>=0);
+	bulletMaxSubSteps = n;
 }
+
+}
+

SimDynamics/DynamicsEngine/BulletEngine/BulletCoinQtViewer.h

@@ -73,6 +73,12 @@ public:
 	//! Stop callbacks
 	void stopCB();
 
+	/*!
+		Parameter that is passed to bulletstepSimulation.
+		Specifies how many sub steps should be performed. Higher value means better simulation but lower performance.
+	*/
+	void setBulletSimMaxSubSteps(int n);
+
 protected:
 
 	
@@ -120,6 +126,8 @@ protected:
 	SoSeparator* sceneGraphRoot;
 	SoSeparator* floor;
 	SoSelection* sceneGraph;
+
+	int bulletMaxSubSteps; 
 };