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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
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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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4
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
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@@ -116,10 +116,10 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,m_desiredVelocity);
constraintRow.m_orgConstraint = this;
constraintRow.m_orgDofIndex = row;
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)