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add 'fixed' joint for btMultiBody

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improve btMultiBody version of URDF reader (still work-in-progress)
enabled planar joint for btMultiBody (untested)
enable loading from relative path for .stl meshes
This commit is contained in:
erwin coumans
2014-08-28 18:42:08 -07:00
parent 3c558ec995
commit 89addd438e
19 changed files with 1276 additions and 304 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -38,7 +38,7 @@ protected:
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
virtual void solveConstraints(btContactSolverInfo& solverInfo);
virtual void integrateTransforms(btScalar timeStep);
public:
btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
@@ -52,5 +52,7 @@ public:
virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual void integrateTransforms(btScalar timeStep);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H