dirty commit: experimenting with the 6DoF grabbing/p2p constraint

2014-01-09 01:03:20 +01:00
parent c0530d31ec
commit 81447aa7c5
5 changed files with 296 additions and 0 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -397,6 +397,15 @@ public:
                             btAlignedObjectArray<btVector3> &scratch_v,
                             btAlignedObjectArray<btMatrix3x3> &scratch_m) const;

+	void fillContactJacobianMultiDof_test(int link,
+                             const btVector3 &contact_point,
+							 const btVector3 &normal_ang,
+                             const btVector3 &normal_lin,
+                             btScalar *jac,
+                             btAlignedObjectArray<btScalar> &scratch_r,
+                             btAlignedObjectArray<btVector3> &scratch_v,
+                             btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
+

    //
    // sleeping