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

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This commit is contained in:
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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13
src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h
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@@ -17,6 +17,7 @@ subject to the following restrictions:
#define BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H
#include "btMultiBodyConstraint.h"
struct btSolverInfo;
class btMultiBodyJointLimitConstraint : public btMultiBodyConstraint
{
@@ -24,6 +25,11 @@ protected:
btScalar m_lowerBound;
btScalar m_upperBound;
void btMultiBodyJointLimitConstraint::fillConstraintRow(btMultiBodySolverConstraint& constraintRow,
btMultiBodyJacobianData& data,
btScalar* jacOrgA,btScalar* jacOrgB,
btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
const btContactSolverInfo& infoGlobal1);
public:
btMultiBodyJointLimitConstraint(btMultiBody* body, int link, btScalar lower, btScalar upper);
@@ -32,8 +38,11 @@ public:
virtual int getIslandIdA() const;
virtual int getIslandIdB() const;
virtual void update();
virtual void createConstraintRows(btMultiBodyConstraintArray& constraintRows,
btMultiBodyJacobianData& data,
const btContactSolverInfo& infoGlobal);
};
#endif //BT_MULTIBODY_JOINT_LIMIT_CONSTRAINT_H