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add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,

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then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
This commit is contained in:
erwin coumans
2015-03-03 13:24:06 -08:00
parent a391e619ed
commit 5d40d90bd0
13 changed files with 548 additions and 27 deletions
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7
Demos3/AllBullet2Demos/BulletDemoEntries.h
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@@ -22,7 +22,7 @@
#include "../ImportObjDemo/ImportObjSetup.h"
#include "../ImportSTLDemo/ImportSTLSetup.h"
#include "../ImportColladaDemo/ImportColladaSetup.h"
#include "../Demos/Raytracer/RaytracerSetup.h"
#include "../../Demos/SerializeDemo/SerializeSetup.h"
#include "../bullet2/MultiBodyDemo/TestJointTorqueSetup.h"
#include "../bullet2/MultiBodyDemo/MultiBodyVehicle.h"
@@ -62,6 +62,9 @@ MYCREATEFUNC2(ImportObjCreateFunc,ImportObjSetup);
MYCREATEFUNC2(ImportSTLCreateFunc,ImportSTLSetup);
MYCREATEFUNC(CoordinateFrameDemoPhysics);
MYCREATEFUNC(RaytracerPhysics);
//Bullet2RigidBodyDemo
static BulletDemoInterface* MyImportColladaCreateFunc(CommonGraphicsApp* app)
{
@@ -88,7 +91,7 @@ static BulletDemoEntry allDemos[]=
{1,"SupportFunc", &MySupportFuncDemo::CreateFunc},
{0,"API Demos", 0},
{1,"Raytracer",RaytracerPhysicsCreateFunc},
{1,"BasicDemo",BasicDemo::MyCreateFunc},
{ 1, "CcdDemo", CcdPhysicsCreateFunc },
{ 1, "Kinematic", KinematicObjectCreateFunc },