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Merge remote-tracking branch 'remotes/bulletphysics/master'

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This commit is contained in:
nicolaichuk
2017-03-29 18:22:53 +03:00
parent 2466df1c5a 993e98e37a
commit 2c6c64ca8a
46 changed files with 2171 additions and 1141 deletions
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4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -1965,6 +1965,10 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
memPtr->m_parentIndex = getLink(i).m_parent;
memPtr->m_jointDamping = getLink(i).m_jointDamping;
memPtr->m_jointFriction = getLink(i).m_jointFriction;
memPtr->m_jointLowerLimit = getLink(i).m_jointLowerLimit;
memPtr->m_jointUpperLimit = getLink(i).m_jointUpperLimit;
memPtr->m_jointMaxForce = getLink(i).m_jointMaxForce;
memPtr->m_jointMaxVelocity = getLink(i).m_jointMaxVelocity;
getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset);
getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);

12
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -728,7 +728,11 @@ struct btMultiBodyLinkDoubleData
double m_jointDamping;
double m_jointFriction;
double m_jointLowerLimit;
double m_jointUpperLimit;
double m_jointMaxForce;
double m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
btCollisionObjectDoubleData *m_linkCollider;
@@ -757,7 +761,11 @@ struct btMultiBodyLinkFloatData
int m_posVarCount;
float m_jointDamping;
float m_jointFriction;
float m_jointLowerLimit;
float m_jointUpperLimit;
float m_jointMaxForce;
float m_jointMaxVelocity;
char *m_linkName;
char *m_jointName;
btCollisionObjectFloatData *m_linkCollider;

12
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -136,7 +136,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
btScalar m_jointDamping; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual damping.
btScalar m_jointFriction; //todo: implement this internally. It is unused for now, it is set by a URDF loader. User can apply manual friction using a velocity motor.
btScalar m_jointLowerLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointUpperLimit; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxForce; //todo: implement this internally. It is unused for now, it is set by a URDF loader.
btScalar m_jointMaxVelocity;//todo: implement this internally. It is unused for now, it is set by a URDF loader.
// ctor: set some sensible defaults
btMultibodyLink()
: m_mass(1),
@@ -153,7 +157,11 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_jointName(0),
m_userPtr(0),
m_jointDamping(0),
m_jointFriction(0)
m_jointFriction(0),
m_jointLowerLimit(0),
m_jointUpperLimit(0),
m_jointMaxForce(0),
m_jointMaxVelocity(0)
{
m_inertiaLocal.setValue(1, 1, 1);