apply newForceTorque.diff patch: it will allow to report

joint reaction force/torque, while using impulse-based response for btMultiBody
2015-07-06 16:39:41 -07:00
parent 4630d0abb1
commit 33b0d429ba
6 changed files with 251 additions and 62 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -106,6 +106,9 @@ struct btMultibodyLink
    btVector3 m_appliedForce;    // In WORLD frame
    btVector3 m_appliedTorque;   // In WORLD frame

+btVector3 m_appliedConstraintForce;    // In WORLD frame
+    btVector3 m_appliedConstraintTorque;   // In WORLD frame
+
 	btScalar m_jointPos[7];
    
    //m_jointTorque is the joint torque applied by the user using 'addJointTorque'.