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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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5
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
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@@ -25,11 +25,6 @@ protected:
btScalar m_lowerBound;
btScalar m_upperBound;
void btMultiBodyJointLimitConstraint::fillConstraintRow(btMultiBodySolverConstraint& constraintRow,
btMultiBodyJacobianData& data,
btScalar* jacOrgA,btScalar* jacOrgB,
btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
const btContactSolverInfo& infoGlobal1);
public:
btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);