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First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'.

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See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
This commit is contained in:
erwincoumans
2015-06-19 09:18:27 -07:00
parent 41aa58560b
commit 89edc40d61
16 changed files with 689 additions and 768 deletions
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src/BulletDynamics/Featherstone/btMultiBodyJointFeedback.h Normal file
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/*
Copyright (c) 2015 Google Inc.
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*/
#ifndef BT_MULTIBODY_JOINT_FEEDBACK_H
#define BT_MULTIBODY_JOINT_FEEDBACK_H
#include "LinearMath/btSpatialAlgebra.h"
struct btMultiBodyJointFeedback
{
btSpatialForceVector m_reactionForces;
btSymmetricSpatialDyad m_spatialInertia;
};
#endif //BT_MULTIBODY_JOINT_FEEDBACK_H