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implement 'mimic' joint constraint or 'gear' constraint for btMultiBody, add example in pybullet/examples/mimicJointConstraint.py

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Erwin Coumans
2017-06-07 16:22:02 -07:00
parent 60e3887456
commit 46f2f3db4e
7 changed files with 329 additions and 9 deletions
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2
src/BulletDynamics/CMakeLists.txt
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@@ -37,6 +37,7 @@ SET(BulletDynamics_SRCS
Featherstone/btMultiBodyFixedConstraint.cpp
Featherstone/btMultiBodySliderConstraint.cpp
Featherstone/btMultiBodyJointMotor.cpp
Featherstone/btMultiBodyGearConstraint.cpp
MLCPSolvers/btDantzigLCP.cpp
MLCPSolvers/btMLCPSolver.cpp
MLCPSolvers/btLemkeAlgorithm.cpp
@@ -98,6 +99,7 @@ SET(Featherstone_HDRS
Featherstone/btMultiBodyFixedConstraint.h
Featherstone/btMultiBodySliderConstraint.h
Featherstone/btMultiBodyJointMotor.h
Featherstone/btMultiBodyGearConstraint.h
)
SET(MLCPSolvers_HDRS