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Add a virtual createConstraintRows method, to easier experiment with different kinds of btMultiBodyConstraint

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erwin.coumans
2013-10-02 21:38:40 +00:00
parent c2bece5280
commit 75f17509cc
8 changed files with 463 additions and 451 deletions
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3
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.h
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@@ -28,6 +28,7 @@ subject to the following restrictions:
#include "LinearMath/btAlignedObjectArray.h"
class btMultiBody;
class btBroadphaseInterface;
class btCollisionShape;
class btOverlappingPairCache;
@@ -53,7 +54,7 @@ class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
btDefaultCollisionConfiguration* m_collisionConfiguration;
void createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic);
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep);
public: