From 79c42fa36e55408ee77be9ed37c13db109c76d08 Mon Sep 17 00:00:00 2001
From: Daniel Chappuis <chappuis.daniel@gmail.com>
Date: Wed, 14 Oct 2020 18:29:41 +0200
Subject: [PATCH] Change the default number of iterations of the velocity and
 position solver

---
 CHANGELOG.md                                 | 2 ++
 include/reactphysics3d/engine/PhysicsWorld.h | 4 ++--
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index fcb86105..b0771ca3 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,8 @@ do not hesitate to take a look at the user manual.
 
  - Rolling resistance constraint is not solved anymore in the solver. Angular damping needs to be used instead to simulate this
  - The List class has been renamed to Array
+ - The default number of iterations for the velocity solver is now 6 instead of 10
+ - The default number of iterations for the position solver is now 3 instead of 5
 
 ### Removed
 
diff --git a/include/reactphysics3d/engine/PhysicsWorld.h b/include/reactphysics3d/engine/PhysicsWorld.h
index fa603517..bafe96c7 100644
--- a/include/reactphysics3d/engine/PhysicsWorld.h
+++ b/include/reactphysics3d/engine/PhysicsWorld.h
@@ -127,8 +127,8 @@ class PhysicsWorld {
                 defaultBounciness = decimal(0.5);
                 restitutionVelocityThreshold = decimal(0.5);
                 isSleepingEnabled = true;
-                defaultVelocitySolverNbIterations = 10;
-                defaultPositionSolverNbIterations = 5;
+                defaultVelocitySolverNbIterations = 6;
+                defaultPositionSolverNbIterations = 3;
                 defaultTimeBeforeSleep = 1.0f;
                 defaultSleepLinearVelocity = decimal(0.02);
                 defaultSleepAngularVelocity = decimal(3.0) * (PI_RP3D / decimal(180.0));