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Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody

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Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
This commit is contained in:
erwin.coumans@gmail.com
2013-10-05 01:46:32 +00:00
parent 2fb686b937
commit 488dd44835
18 changed files with 1418 additions and 475 deletions
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7
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.h
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@@ -53,12 +53,17 @@ class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
btDefaultCollisionConfiguration* m_collisionConfiguration;
virtual void mouseMotionFunc(int x,int y);
virtual void removePickingConstraint();
virtual void pickObject(const btVector3& pickPos, const class btCollisionObject* hitObj);
class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep);
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep, bool createConstraints);
public:
FeatherstoneMultiBodyDemo()
:m_pickingMultiBodyPoint2Point(0)
{
}
virtual ~FeatherstoneMultiBodyDemo()