implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm

minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
2015-06-19 15:51:24 -07:00
parent 89edc40d61
commit 6e9eb13235
9 changed files with 178 additions and 91 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -85,5 +85,6 @@ public:
 	virtual void	debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);
 	
 	void	forwardKinematics();
+	
 };
 #endif //BT_MULTIBODY_DYNAMICS_WORLD_H