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Merge pull request #930 from erwincoumans/master

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Update btMultiBody.h (make compTreeLinkVelocities public)
This commit is contained in:
erwincoumans
2017-01-23 23:06:53 -08:00
committed by GitHub
parent f81743eee0 bc997c1fd0
commit 7e22e225a3
1 changed files with 2 additions and 1 deletions
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src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -560,6 +560,8 @@ void addJointTorque(int i, btScalar Q);
} }
void forwardKinematics(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m); void forwardKinematics(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m);
void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const;
void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m); void updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQuaternion>& scratch_q,btAlignedObjectArray<btVector3>& scratch_m);
virtual int calculateSerializeBufferSize() const; virtual int calculateSerializeBufferSize() const;
@@ -613,7 +615,6 @@ private:
btMultiBody(const btMultiBody &); // not implemented btMultiBody(const btMultiBody &); // not implemented
void operator=(const btMultiBody &); // not implemented void operator=(const btMultiBody &); // not implemented
void compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const;
void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const; void solveImatrix(const btVector3& rhs_top, const btVector3& rhs_bot, float result[6]) const;
void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const; void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const;