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fix an issue with btMultiBodyConstraint, automatically 'finalizeMultiDof' to pre-allocate jacobian data

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enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
This commit is contained in:
Erwin Coumans
2015-06-05 11:46:53 -07:00
parent a94ac6300a
commit 1a4ce475f7
12 changed files with 307 additions and 249 deletions
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25
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -4,8 +4,8 @@ Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
@@ -38,11 +38,11 @@ protected:
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);
public:
btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
virtual ~btMultiBodyDynamicsWorld ();
virtual void addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter);
@@ -51,12 +51,27 @@ public:
virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual int getNumMultiBodyConstraints() const
{
return m_multiBodyConstraints.size();
}
virtual btMultiBodyConstraint* getMultiBodyConstraint( int constraintIndex)
{
return m_multiBodyConstraints[constraintIndex];
}
virtual const btMultiBodyConstraint* getMultiBodyConstraint( int constraintIndex) const
{
return m_multiBodyConstraints[constraintIndex];
}
virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual void integrateTransforms(btScalar timeStep);
virtual void debugDrawWorld();
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H