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Add MLCP constraint solver for multibody

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This commit is contained in:
Jeongseok Lee
2018-08-02 22:53:30 -07:00
parent 7d38cab1aa
commit 89c6a83ae9
8 changed files with 1617 additions and 16 deletions
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25
src/BulletDynamics/CMakeLists.txt
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@@ -31,15 +31,16 @@ SET(BulletDynamics_SRCS
Vehicle/btRaycastVehicle.cpp
Vehicle/btWheelInfo.cpp
Featherstone/btMultiBody.cpp
Featherstone/btMultiBodyConstraint.cpp
Featherstone/btMultiBodyConstraintSolver.cpp
Featherstone/btMultiBodyDynamicsWorld.cpp
Featherstone/btMultiBodyJointLimitConstraint.cpp
Featherstone/btMultiBodyConstraint.cpp
Featherstone/btMultiBodyPoint2Point.cpp
Featherstone/btMultiBodyFixedConstraint.cpp
Featherstone/btMultiBodySliderConstraint.cpp
Featherstone/btMultiBodyJointMotor.cpp
Featherstone/btMultiBodyGearConstraint.cpp
Featherstone/btMultiBodyJointLimitConstraint.cpp
Featherstone/btMultiBodyJointMotor.cpp
Featherstone/btMultiBodyMLCPConstraintSolver.cpp
Featherstone/btMultiBodyPoint2Point.cpp
Featherstone/btMultiBodySliderConstraint.cpp
MLCPSolvers/btDantzigLCP.cpp
MLCPSolvers/btMLCPSolver.cpp
MLCPSolvers/btLemkeAlgorithm.cpp
@@ -90,19 +91,19 @@ SET(Vehicle_HDRS
SET(Featherstone_HDRS
Featherstone/btMultiBody.h
Featherstone/btMultiBodyConstraint.h
Featherstone/btMultiBodyConstraintSolver.h
Featherstone/btMultiBodyDynamicsWorld.h
Featherstone/btMultiBodyFixedConstraint.h
Featherstone/btMultiBodyGearConstraint.h
Featherstone/btMultiBodyJointLimitConstraint.h
Featherstone/btMultiBodyJointMotor.h
Featherstone/btMultiBodyLink.h
Featherstone/btMultiBodyLinkCollider.h
Featherstone/btMultiBodySolverConstraint.h
Featherstone/btMultiBodyConstraint.h
Featherstone/btMultiBodyJointLimitConstraint.h
Featherstone/btMultiBodyConstraint.h
Featherstone/btMultiBodyMLCPConstraintSolver.h
Featherstone/btMultiBodyPoint2Point.h
Featherstone/btMultiBodyFixedConstraint.h
Featherstone/btMultiBodySliderConstraint.h
Featherstone/btMultiBodyJointMotor.h
Featherstone/btMultiBodyGearConstraint.h
Featherstone/btMultiBodySolverConstraint.h
)
SET(MLCPSolvers_HDRS