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apply newForceTorque.diff patch: it will allow to report

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joint reaction force/torque, while using impulse-based response
for btMultiBody
This commit is contained in:
=
2015-07-06 16:39:41 -07:00
parent 4630d0abb1
commit 33b0d429ba
6 changed files with 251 additions and 62 deletions
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5
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -18,6 +18,7 @@ subject to the following restrictions:
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
#define BT_USE_VIRTUAL_CLEARFORCES_AND_GRAVITY
class btMultiBody;
class btMultiBodyConstraint;
@@ -85,6 +86,10 @@ public:
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
void forwardKinematics();
virtual void clearForces();
virtual void clearMultiBodyConstraintForces();
virtual void clearMultiBodyForces();
virtual void applyGravity();
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H