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expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s),

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only tested for btMultiBodyJointMotor for now.
See also MultiBody/MultiBodyConstraintFeedback example
This commit is contained in:
=
2015-07-06 23:00:46 -07:00
parent 33b0d429ba
commit 3431773800
10 changed files with 50 additions and 11 deletions
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12
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -612,7 +612,9 @@ btMultiBodySolverConstraint& btMultiBodyConstraintSolver::addMultiBodyFrictionCo
{
BT_PROFILE("addMultiBodyFrictionConstraint");
btMultiBodySolverConstraint& solverConstraint = m_multiBodyFrictionContactConstraints.expandNonInitializing();
solverConstraint.m_useJointForce = false;
solverConstraint.m_orgConstraint = 0;
solverConstraint.m_orgDofIndex = -1;
solverConstraint.m_frictionIndex = frictionIndex;
bool isFriction = true;
@@ -680,10 +682,11 @@ void btMultiBodyConstraintSolver::convertMultiBodyContact(btPersistentManifold*
int frictionIndex = m_multiBodyNormalContactConstraints.size();
btMultiBodySolverConstraint& solverConstraint = m_multiBodyNormalContactConstraints.expandNonInitializing();
solverConstraint.m_useJointForce = false;
// btRigidBody* rb0 = btRigidBody::upcast(colObj0);
// btRigidBody* rb1 = btRigidBody::upcast(colObj1);
solverConstraint.m_orgConstraint = 0;
solverConstraint.m_orgDofIndex = -1;
solverConstraint.m_solverBodyIdA = solverBodyIdA;
solverConstraint.m_solverBodyIdB = solverBodyIdB;
solverConstraint.m_multiBodyA = mbA;
@@ -891,6 +894,11 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
//bod->addBaseForce(m_gravity * bod->getBaseMass());
//bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
if (c.m_orgConstraint)
{
c.m_orgConstraint->internalSetAppliedImpulse(c.m_orgDofIndex,c.m_appliedImpulse);
}
if (c.m_multiBodyA)