Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

10
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.h
View File

@@ -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.
@@ -30,7 +30,7 @@ protected:
btRigidBody* m_rigidBodyB;
btVector3 m_pivotInA;
btVector3 m_pivotInB;
public:
@@ -39,6 +39,8 @@ public:
virtual ~btMultiBodyPoint2Point();
virtual void finalizeMultiDof();
virtual int getIslandIdA() const;
virtual int getIslandIdB() const;
@@ -57,7 +59,7 @@ public:
}
virtual void debugDraw(class btIDebugDraw* drawer);
};
#endif //BT_MULTIBODY_POINT2POINT_H