Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
View File

@@ -114,6 +114,9 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
btScalar direction = row? -1 : 1;
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
constraintRow.m_orgConstraint = this;
constraintRow.m_orgDofIndex = row;
constraintRow.m_multiBodyA = m_bodyA;
constraintRow.m_multiBodyB = m_bodyB;
const btScalar posError = 0; //why assume it's zero?
@@ -123,7 +126,6 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
if (m_bodyA->isMultiDof())
{
constraintRow.m_useJointForce = false;
//expect either prismatic or revolute joint type for now
btAssert((m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::eRevolute)||(m_bodyA->getLink(m_linkA).m_jointType == btMultibodyLink::ePrismatic));
switch (m_bodyA->getLink(m_linkA).m_jointType)