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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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25
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -505,7 +505,6 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
scratch_m.resize(bod->getNumLinks()+1);
bool doNotUpdatePos = false;
if(bod->isMultiDof())
{
if(!bod->isUsingRK4Integration())
{
@@ -667,10 +666,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
}
}
else//if(bod->isMultiDof())
{
bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
}
#ifndef BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
bod->clearForcesAndTorques();
#endif //BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
@@ -709,13 +705,13 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
scratch_v.resize(bod->getNumLinks()+1);
scratch_m.resize(bod->getNumLinks()+1);
if(bod->isMultiDof())
{
if(!bod->isUsingRK4Integration())
{
if(!bod->isUsingRK4Integration())
{
bool isConstraintPass = true;
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m, isConstraintPass);
}
bool isConstraintPass = true;
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m, isConstraintPass);
}
}
}
}
@@ -760,7 +756,7 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
///base + num m_links
if(bod->isMultiDof())
{
if(!bod->isPosUpdated())
bod->stepPositionsMultiDof(timeStep);
@@ -773,10 +769,7 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
bod->setPosUpdated(false);
}
}
else
{
bod->stepPositions(timeStep);
}
world_to_local.resize(nLinks+1);
local_origin.resize(nLinks+1);