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Expose slider constraint in RobotSimAPI.

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This commit is contained in:
yunfeibai
2016-08-26 10:35:10 -07:00
parent c29d445b94
commit 5b9b5178f9
4 changed files with 33 additions and 10 deletions
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2
src/BulletDynamics/Featherstone/btMultiBodySliderConstraint.cpp
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@@ -21,7 +21,7 @@ subject to the following restrictions:
#include "BulletDynamics/ConstraintSolver/btGeneric6DofSpring2Constraint.h"
#include "LinearMath/btIDebugDraw.h"
#define BTMBSLIDERCONSTRAINT_DIM 6
#define BTMBSLIDERCONSTRAINT_DIM 5
#define EPSILON 0.000001
btMultiBodySliderConstraint::btMultiBodySliderConstraint(btMultiBody* body, int link, btRigidBody* bodyB, const btVector3& pivotInA, const btVector3& pivotInB, const btMatrix3x3& frameInA, const btMatrix3x3& frameInB, const btVector3& jointAxis)