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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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13
examples/MultiBody/InvertedPendulumPDControl.cpp
View File

@@ -136,8 +136,8 @@ void InvertedPendulumPDControl::initPhysics()
delete shape;
}
bool isMultiDof = true;
btMultiBody *pMultiBody = new btMultiBody(numLinks, 0, baseInertiaDiag, fixedBase, canSleep, isMultiDof);
btMultiBody *pMultiBody = new btMultiBody(numLinks, 0, baseInertiaDiag, fixedBase, canSleep);
m_multiBody = pMultiBody;
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
@@ -201,7 +201,7 @@ void InvertedPendulumPDControl::initPhysics()
pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
btQuaternion(0.f, 0.f, 0.f, 1.f),
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
currentPivotToCurrentCom);
}
//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
@@ -249,10 +249,9 @@ void InvertedPendulumPDControl::initPhysics()
{
btScalar q0 = 180.f * SIMD_PI/ 180.f;
if(!spherical)
if(mbC->isMultiDof())
mbC->setJointPosMultiDof(0, &q0);
else
mbC->setJointPos(0, q0);
{
mbC->setJointPosMultiDof(0, &q0);
}
else
{
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);

13
examples/MultiBody/MultiBodyConstraintFeedback.cpp
View File

@@ -131,8 +131,8 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
delete shape;
}
bool isMultiDof = true;
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
m_multiBody = pMultiBody;
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
@@ -196,7 +196,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
btQuaternion(0.f, 0.f, 0.f, 1.f),
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
currentPivotToCurrentCom);
}
//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
@@ -244,10 +244,9 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
{
btScalar q0 = 45.f * SIMD_PI/ 180.f;
if(!spherical)
if(mbC->isMultiDof())
mbC->setJointPosMultiDof(0, &q0);
else
mbC->setJointPos(0, q0);
{
mbC->setJointPosMultiDof(0, &q0);
}
else
{
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);

11
examples/MultiBody/MultiDofDemo.cpp
View File

@@ -161,10 +161,9 @@ void MultiDofDemo::initPhysics()
{
btScalar q0 = 45.f * SIMD_PI/ 180.f;
if(!spherical)
if(mbC->isMultiDof())
mbC->setJointPosMultiDof(0, &q0);
else
mbC->setJointPos(0, q0);
{
mbC->setJointPosMultiDof(0, &q0);
}
else
{
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);
@@ -260,8 +259,8 @@ btMultiBody* MultiDofDemo::createFeatherstoneMultiBody_testMultiDof(btMultiBodyD
}
bool canSleep = false;
bool isMultiDof = true;
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
pMultiBody->setBasePos(basePosition);

13
examples/MultiBody/TestJointTorqueSetup.cpp
View File

@@ -135,8 +135,8 @@ void TestJointTorqueSetup::initPhysics()
delete shape;
}
bool isMultiDof = true;
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep, isMultiDof);
btMultiBody *pMultiBody = new btMultiBody(numLinks, baseMass, baseInertiaDiag, !floating, canSleep);
m_multiBody = pMultiBody;
btQuaternion baseOriQuat(0.f, 0.f, 0.f, 1.f);
@@ -200,7 +200,7 @@ void TestJointTorqueSetup::initPhysics()
pMultiBody->setupFixed(i, linkMass, linkInertiaDiag, i - 1,
btQuaternion(0.f, 0.f, 0.f, 1.f),
parentComToCurrentPivot,
currentPivotToCurrentCom, false);
currentPivotToCurrentCom);
}
//pMultiBody->setupFixed(i,linkMass,linkInertiaDiag,i-1,btQuaternion(0,0,0,1),parentComToCurrentPivot,currentPivotToCurrentCom,false);
@@ -248,10 +248,9 @@ void TestJointTorqueSetup::initPhysics()
{
btScalar q0 = 45.f * SIMD_PI/ 180.f;
if(!spherical)
if(mbC->isMultiDof())
mbC->setJointPosMultiDof(0, &q0);
else
mbC->setJointPos(0, q0);
{
mbC->setJointPosMultiDof(0, &q0);
}
else
{
btQuaternion quat0(btVector3(1, 1, 0).normalized(), q0);