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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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3
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
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@@ -38,7 +38,7 @@ void btMultiBodyJointLimitConstraint::finalizeMultiDof()
allocateJacobiansMultiDof();
unsigned int offset = 6 + (m_bodyA->isMultiDof() ? m_bodyA->getLink(m_linkA).m_dofOffset : m_linkA);
unsigned int offset = 6 + m_bodyA->getLink(m_linkA).m_dofOffset;
// row 0: the lower bound
jacobianA(0)[offset] = 1;
@@ -124,7 +124,6 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
if (m_bodyA->isMultiDof())
{
//expect either prismatic or revolute joint type for now
btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));