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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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15
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -21,7 +21,10 @@ subject to the following restrictions:
class btMultiBody;
class btMultiBodyConstraint;
#include "btMultiBodyConstraint.h"
ATTRIBUTE_ALIGNED16(class) btMultiBodyConstraintSolver : public btSequentialImpulseConstraintSolver
{
@@ -33,15 +36,7 @@ protected:
btMultiBodyConstraintArray m_multiBodyNormalContactConstraints;
btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints;
btAlignedObjectArray<btScalar> m_jacobians;
btAlignedObjectArray<btScalar> m_deltaVelocitiesUnitImpulse;
btAlignedObjectArray<btScalar> m_deltaVelocities;
btAlignedObjectArray<btScalar> scratch_r;
btAlignedObjectArray<btVector3> scratch_v;
btAlignedObjectArray<btMatrix3x3> scratch_m;
btMultiBodyJacobianData m_data;
//temp storage for multi body constraints for a specific island/group called by 'solveGroup'
btMultiBodyConstraint** m_tmpMultiBodyConstraints;