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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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4
src/BulletDynamics/Featherstone/btMultiBodySolverConstraint.h
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@@ -28,7 +28,7 @@ ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint
{
BT_DECLARE_ALIGNED_ALLOCATOR();
btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1)
btMultiBodySolverConstraint() : m_solverBodyIdA(-1), m_multiBodyA(0), m_linkA(-1), m_solverBodyIdB(-1), m_multiBodyB(0), m_linkB(-1),m_useJointForce(false)
{}
int m_deltaVelAindex;//more generic version of m_relpos1CrossNormal/m_contactNormal1
@@ -73,6 +73,8 @@ ATTRIBUTE_ALIGNED16 (struct) btMultiBodySolverConstraint
btMultiBody* m_multiBodyB;
int m_linkB;
bool m_useJointForce;//needed for write-back of joint versus link/base force/torque
enum btSolverConstraintType
{
BT_SOLVER_CONTACT_1D = 0,