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Added some helper methods for constraints and btMatrix3x3,

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Thanks to  francois, See Issue 466

Prevent crash in SoftBodyDemo, when picking constraints and demo-mode switches to next demo.
This commit is contained in:
erwin.coumans
2011-02-27 03:28:53 +00:00
parent e5b5126876
commit 4e8596eef5
14 changed files with 217 additions and 35 deletions
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25
src/BulletDynamics/ConstraintSolver/btConeTwistConstraint.h
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@@ -144,15 +144,6 @@ public:
void updateRHS(btScalar timeStep);
const btTransform & getFrameOffsetA() const
{
return m_rbAFrame;
}
const btTransform & getFrameOffsetB() const
{
return m_rbBFrame;
}
const btRigidBody& getRigidBodyA() const
{
@@ -254,8 +245,6 @@ public:
}
bool isPastSwingLimit() { return m_solveSwingLimit; }
void setFrames(const btTransform & frameA, const btTransform & frameB);
void setDamping(btScalar damping) { m_damping = damping; }
void enableMotor(bool b) { m_bMotorEnabled = b; }
@@ -279,6 +268,20 @@ public:
///override the default global value of a parameter (such as ERP or CFM), optionally provide the axis (0..5).
///If no axis is provided, it uses the default axis for this constraint.
virtual void setParam(int num, btScalar value, int axis = -1);
virtual void setFrames(const btTransform& frameA, const btTransform& frameB);
const btTransform& getFrameOffsetA() const
{
return m_rbAFrame;
}
const btTransform& getFrameOffsetB() const
{
return m_rbBFrame;
}
///return the local value of parameter
virtual btScalar getParam(int num, int axis = -1) const;