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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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22
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
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@@ -28,12 +28,30 @@ btMultiBodyJointLimitConstraint::~btMultiBodyJointLimitConstraint()
int btMultiBodyJointLimitConstraint::getIslandIdA() const
{
return m_bodyA->getLinkCollider(0)->getIslandTag();
btMultiBodyLinkCollider* col = m_bodyA->getBaseCollider();
if (col)
return col->getIslandTag();
for (int i=0;i<m_bodyA->getNumLinks();i++)
{
if (m_bodyA->getLink(i).m_collider)
return m_bodyA->getLink(i).m_collider->getIslandTag();
}
return -1;
}
int btMultiBodyJointLimitConstraint::getIslandIdB() const
{
return m_bodyB->getLinkCollider(0)->getIslandTag();
btMultiBodyLinkCollider* col = m_bodyB->getBaseCollider();
if (col)
return col->getIslandTag();
for (int i=0;i<m_bodyB->getNumLinks();i++)
{
col = m_bodyB->getLink(i).m_collider;
if (col)
return col->getIslandTag();
}
return -1;
}