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

2017-06-07 16:22:02 -07:00
parent 60e3887456
commit 46f2f3db4e
7 changed files with 329 additions and 9 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -183,6 +183,7 @@ public:

 	virtual void debugDraw(class btIDebugDraw* drawer)=0;

+	virtual void setGearRatio(btScalar ratio) {}
 };

 #endif //BT_MULTIBODY_CONSTRAINT_H