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prepare for 'custom' multi body creation.

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erwin coumans
2015-04-22 18:09:00 -07:00
parent b64f5feba4
commit 51938d642e
7 changed files with 118 additions and 60 deletions
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4
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
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@@ -40,8 +40,8 @@ class btMultiBodyLinkCollider* MyMultiBodyCreator::allocateMultiBodyLinkCollider
btMultiBodyLinkCollider* mbCol= new btMultiBodyLinkCollider(multiBody, mbLinkIndex);
return mbCol;
}
class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder)
{
btGeneric6DofSpring2Constraint* c = new btGeneric6DofSpring2Constraint(rbA,rbB,offsetInA, offsetInB, (RotateOrder)rotateOrder);