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add MultiDofDemo (Featherstone 3DOF spherical joint)

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minor prettify of BasicDemo,RagdollDemo.
require 'multiDof' argument in btMultiBody.h (not default=false)
This commit is contained in:
Erwin Coumans
2014-01-10 16:34:39 -08:00
parent a8e60b4ee5
commit 7e4b1c1c8a
9 changed files with 481 additions and 28 deletions
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6
Demos3/bullet2/FeatherstoneMultiBodyDemo/BulletMultiBodyDemos.h
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@@ -6,6 +6,7 @@
#include "../../AllBullet2Demos/BulletDemoInterface.h"
#include "LinearMath/btAlignedObjectArray.h"
struct btMultiBodySettings
{
@@ -44,10 +45,11 @@ protected:
class btMultiBodyDynamicsWorld* m_dynamicsWorld;
class btCollisionDispatcher* m_dispatcher;
class btBroadphaseInterface* m_bp;
class btCollisionConfiguration* m_config;
class btBroadphaseInterface* m_broadphase;
class btCollisionConfiguration* m_collisionConfiguration;
class btMultiBodyConstraintSolver* m_solver;
btAlignedObjectArray<class btCollisionShape*> m_collisionShapes;
//btAlignedObjectArray<btMultiBodyLinkCollider*> m_linkColliders;
public: