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

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

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

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);