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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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14
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -165,20 +165,6 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
}
// routine to update m_cachedRotParentToThis and m_cachedRVector
void updateCache()
{
//multidof
if (m_jointType == eRevolute)
{
m_cachedRotParentToThis = btQuaternion(getAxisTop(0),-m_jointPos[0]) * m_zeroRotParentToThis;
m_cachedRVector = m_dVector + quatRotate(m_cachedRotParentToThis,m_eVector);
} else
{
// m_cachedRotParentToThis never changes, so no need to update
m_cachedRVector = m_eVector + m_jointPos[0] * getAxisBottom(0);
}
}
void updateCacheMultiDof(btScalar *pq = 0)
{
btScalar *pJointPos = (pq ? pq : &m_jointPos[0]);