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

preparation for joint limit constraint for Featherstone btMultiBody

Browse Source
This commit is contained in:
erwin.coumans
2013-10-02 06:25:20 +00:00
parent d8b6a02a7a
commit 36cfbd47a6
8 changed files with 196 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
View File

@@ -38,6 +38,7 @@ subject to the following restrictions:
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#include "BulletDynamics/Featherstone/btMultiBodyLink.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
@@ -209,15 +210,15 @@ void FeatherstoneMultiBodyDemo::initPhysics()
}
createFeatherstoneMultiBody(world, 10, btVector3 (20,29.5,-2), true);
createFeatherstoneMultiBody(world, 3, btVector3 (20,29.5,-2), true, false);//true);
createFeatherstoneMultiBody(world, 5, btVector3 (0,29.5,-2), false);
createFeatherstoneMultiBody(world, 5, btVector3 (0,29.5,-2), false,false);
}
void FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase)
void FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic)
{
{
int n_links = numLinks;
@@ -259,10 +260,11 @@ void FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDyn
const int child_link_num = link_num_counter++;
if (0)//i==(n_links-1))
if (usePrismatic && i==(n_links-1))
{
bod->setupPrismatic(child_link_num, mass, inertia, this_link_num,
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos));
} else
{
bod->setupRevolute(child_link_num, mass, inertia, this_link_num,parent_to_child, joint_axis_child_hinge,
@@ -271,6 +273,13 @@ void FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDyn
bod->setJointPos(child_link_num, initial_joint_angle);
this_link_num = i;
}
//add some constraint limit
if (usePrismatic)
{
btMultiBodyConstraint* limit = new btMultiBodyJointLimitConstraint(bod,n_links-1,2,2);
world->addMultiBodyConstraint(limit);
}
}
//add a collider for the base