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

enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
2015-06-05 11:46:53 -07:00
parent a94ac6300a
commit 1a4ce475f7
12 changed files with 307 additions and 249 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
@@ -43,7 +43,12 @@ btMultiBodyPoint2Point::btMultiBodyPoint2Point(btMultiBody* bodyA, int linkA, bt
 	m_pivotInB(pivotInB)
 {
 }
-
+
+void btMultiBodyPoint2Point::finalizeMultiDof()
+{
+	//not implemented yet
+	btAssert(0);
+}

 btMultiBodyPoint2Point::~btMultiBodyPoint2Point()
 {