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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.
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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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2
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.h
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@@ -33,7 +33,7 @@ public:
btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse);
btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse);
virtual ~btMultiBodyJointMotor();
virtual void finalizeMultiDof();
virtual void finalizeMultiDof();
virtual int getIslandIdA() const;
virtual int getIslandIdB() const;