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multidof4 patch

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This commit is contained in:
kubas
2014-01-09 00:26:24 +01:00
parent 75b8f7230d
commit 96ff69276f
12 changed files with 2661 additions and 428 deletions
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17
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -451,7 +451,8 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
if (!isSleeping)
{
scratch_r.resize(bod->getNumLinks()+1);
//useless? they get resized in stepVelocities once again (AND DIFFERENTLY)
scratch_r.resize(bod->getNumLinks()+1); //multidof? ("Y"s use it and it is used to store qdd)
scratch_v.resize(bod->getNumLinks()+1);
scratch_m.resize(bod->getNumLinks()+1);
@@ -463,7 +464,10 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
bod->addLinkForce(j, m_gravity * bod->getLinkMass(j));
}
bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
if(bod->isMultiDof())
bod->stepVelocitiesMultiDof(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
else
bod->stepVelocities(solverInfo.m_timeStep, scratch_r, scratch_v, scratch_m);
}
}
}
@@ -503,13 +507,14 @@ void btMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
{
int nLinks = bod->getNumLinks();
///base + num links
///base + num m_links
world_to_local.resize(nLinks+1);
local_origin.resize(nLinks+1);
bod->stepPositions(timeStep);
if(bod->isMultiDof())
bod->stepPositionsMultiDof(timeStep);
else
bod->stepPositions(timeStep);
world_to_local[0] = bod->getWorldToBaseRot();
local_origin[0] = bod->getBasePos();