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Introduce kF_UseGjkConvexCastRaytest, and make kF_UseSubSimplexConvexCastRaytest the default for btCollisionWorld::rayTest See https://github.com/bulletphysics/bullet3/issues/34

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Add btCollisionObject::setIgnoreCollisionCheck to disable collisions between specific instances, without having a btTypedConstraint. See https://github.com/bulletphysics/bullet3/issues/165

Make btMultiBody and btMultiBodyJointMotor backwards compatible with Bullet 2.82 API (single-DOF API)
This commit is contained in:
Erwin Coumans
2014-05-01 13:51:56 -07:00
parent 907ac49892
commit 7151865c16
10 changed files with 87 additions and 49 deletions
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6
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
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@@ -21,6 +21,12 @@ subject to the following restrictions:
#include "BulletCollision/CollisionDispatch/btCollisionObject.h"
btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
:btMultiBodyJointMotor(body,link,0,desiredVelocity,maxMotorImpulse)
{
}
btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse)
//:btMultiBodyConstraint(body,0,link,-1,1,true),
:btMultiBodyConstraint(body,body,link,link,1,true),