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fix the bug that prevents the pd control forces/torques being added

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This commit is contained in:
Xuchen Han
2019-11-08 16:54:02 -08:00
parent e66982d658
commit 362bc6d9a3
5 changed files with 127 additions and 8 deletions
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6
src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
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@@ -63,7 +63,9 @@ protected:
void solveConstraints(btScalar timeStep);
void updateActivationState(btScalar timeStep);
void clearGravity();
public:
btDeformableMultiBodyDynamicsWorld(btDispatcher* dispatcher, btBroadphaseInterface* pairCache, btDeformableMultiBodyConstraintSolver* constraintSolver, btCollisionConfiguration* collisionConfiguration, btDeformableBodySolver* deformableBodySolver = 0)
: btMultiBodyDynamicsWorld(dispatcher, pairCache, (btMultiBodyConstraintSolver*)constraintSolver, collisionConfiguration),
@@ -90,6 +92,8 @@ public:
m_selfCollision = true;
}
virtual int stepSimulation(btScalar timeStep, int maxSubSteps = 1, btScalar fixedTimeStep = btScalar(1.) / btScalar(60.));
void setSolverCallback(btSolverCallback cb)
{
m_solverCallback = cb;