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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)
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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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17
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -1,6 +1,6 @@
/*
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://bulletphysics.com/Bullet/
Copyright (c) 2003-2013 Erwin Coumans http://bulletphysics.org
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
@@ -18,13 +18,11 @@ subject to the following restrictions:
* @mainpage Bullet Documentation
*
* @section intro_sec Introduction
* Bullet Collision Detection & Physics SDK
*
* Bullet is a Collision Detection and Rigid Body Dynamics Library. The Library is Open Source and free for commercial use, under the ZLib license ( http://opensource.org/licenses/zlib-license.php ).
*
* The main documentation is Bullet_User_Manual.pdf, included in the source code distribution.
* There is the Physics Forum for feedback and general Collision Detection and Physics discussions.
* Please visit http://www.bulletphysics.com
* Please visit http://www.bulletphysics.org
*
* @section install_sec Installation
*
@@ -32,7 +30,16 @@ subject to the following restrictions:
* You can download the Bullet Physics Library from the Google Code repository: http://code.google.com/p/bullet/downloads/list
*
* @subsection step2 Step 2: Building
* Bullet main build system for all platforms is cmake, you can download http://www.cmake.org
* Bullet has multiple build systems, including premake, cmake and autotools. Premake and cmake support all platforms.
* Premake is included in the Bullet/build folder for Windows, Mac OSX and Linux.
* Under Windows you can click on Bullet/build/vs2010.bat to create Microsoft Visual Studio projects.
* On Mac OSX and Linux you can open a terminal and generate Makefile, codeblocks or Xcode4 projects:
* cd Bullet/build
* ./premake4_osx gmake or ./premake4_linux gmake or ./premake4_linux64 gmake or (for Mac) ./premake4_osx xcode4
* cd Bullet/build/gmake
* make
*
* An alternative to premake is cmake. You can download cmake from http://www.cmake.org
* cmake can autogenerate projectfiles for Microsoft Visual Studio, Apple Xcode, KDevelop and Unix Makefiles.
* The easiest is to run the CMake cmake-gui graphical user interface and choose the options and generate projectfiles.
* You can also use cmake in the command-line. Here are some examples for various platforms: