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change btMultiBody to allow removal/changing of links

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(still not easy to modify the link structure of a btMultiBody -> You have to manually re-link parents, copying links around etc)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-03 05:13:41 +00:00
parent 88b8ae552b
commit 2fb686b937
7 changed files with 177 additions and 80 deletions
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30
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -213,9 +213,17 @@ void FeatherstoneMultiBodyDemo::initPhysics()
mb = createFeatherstoneMultiBody(world, 5, btVector3 (0,29.5,-2), false,false,true);
bool testRemoveLinks = false;
if (testRemoveLinks)
{
while (mb->getNumLinks())
{
btCollisionObject* col = mb->getLink(mb->getNumLinks()-1).m_collider;
m_dynamicsWorld->removeCollisionObject(col);
delete col;
mb->setNumLinks(mb->getNumLinks()-1);
}
}
}
btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep)
@@ -304,21 +312,21 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
{
btCollisionShape* box = new btBoxShape(btVector3(halfExtents[0],halfExtents[1],halfExtents[2]));
btRigidBody* body = new btRigidBody(mass,0,box,inertia);
btMultiBodyLinkCollider* multiBody= new btMultiBodyLinkCollider(bod,-1);
btMultiBodyLinkCollider* col= new btMultiBodyLinkCollider(bod,-1);
body->setCollisionShape(box);
multiBody->setCollisionShape(box);
col->setCollisionShape(box);
btTransform tr;
tr.setIdentity();
tr.setOrigin(local_origin[0]);
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
body->setWorldTransform(tr);
multiBody->setWorldTransform(tr);
col->setWorldTransform(tr);
world->addCollisionObject(multiBody, btBroadphaseProxy::DefaultFilter, btBroadphaseProxy::AllFilter);
multiBody->setFriction(1);
bod->addLinkCollider(multiBody);
world->addCollisionObject(col, btBroadphaseProxy::DefaultFilter, btBroadphaseProxy::AllFilter);
col->setFriction(1);
bod->setBaseCollider(col);
}
}
@@ -351,8 +359,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
col->setWorldTransform(tr);
col->setFriction(1);
world->addCollisionObject(col,btBroadphaseProxy::DefaultFilter, btBroadphaseProxy::AllFilter);//,2,1);
bod->addLinkCollider(col);
bod->getLink(i).m_collider=col;
//app->drawBox(halfExtents, pos,quat);
}