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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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7
src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
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@@ -20,6 +20,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
class btMultiBody;
class btMultiBodyConstraint;
#include "BulletDynamics/ConstraintSolver/btSolverBody.h"
#include "BulletDynamics/ConstraintSolver/btContactSolverInfo.h"
@@ -28,7 +29,7 @@ ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_useJointForce(false)
btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_orgConstraint(0), m_orgDofIndex(-1)
{}
int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
@@ -73,7 +74,9 @@ ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint
btMultiBody* m_multiBodyB;
int m_linkB;
bool m_useJointForce;//needed for write-back of joint versus link/base force/torque
//for writing back applied impulses
btMultiBodyConstraint* m_orgConstraint;
int m_orgDofIndex;
enum btSolverConstraintType
{