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Only support btMultiBody multi-dof version (remove non-multi-dof path)

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Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
This commit is contained in:
erwincoumans
2015-11-05 21:17:46 -08:00
parent d6464ce40d
commit 2920d7e61f
16 changed files with 125 additions and 374 deletions
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2
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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@@ -43,7 +43,7 @@ public:
///optionally create some graphical representation from a collision object, usually for visual debugging purposes.
virtual void createCollisionObjectGraphicsInstance(int linkIndex, class btCollisionObject* col, const btVector3& colorRgba);
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof);
virtual class btMultiBody* allocateMultiBody(int urdfLinkIndex, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep);
virtual class btRigidBody* allocateRigidBody(int urdfLinkIndex, btScalar mass, const btVector3& localInertiaDiagonal, const btTransform& initialWorldTrans, class btCollisionShape* colShape);