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pass the settings to create a FeatherstoneMultiBody as a struct, instead of all individual parameters

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erwin.coumans
2013-10-22 22:36:43 +00:00
parent 0024c87316
commit 9b44762519
2 changed files with 59 additions and 20 deletions
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23
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.h
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@@ -39,6 +39,27 @@ class btDefaultCollisionConfiguration;
///FeatherstoneMultiBodyDemo is good starting point for learning the code base and porting.
struct btMultiBodySettings
{
btMultiBodySettings()
{
m_numLinks = 0;
m_basePosition.setZero();
m_isFixedBase = true;
m_usePrismatic = false;
m_canSleep = true;
m_createConstraints = false;
m_disableParentCollision = false;
}
int m_numLinks;
btVector3 m_basePosition;
bool m_isFixedBase;
bool m_usePrismatic;
bool m_canSleep;
bool m_createConstraints;
bool m_disableParentCollision;
};
class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
{
@@ -58,7 +79,7 @@ class FeatherstoneMultiBodyDemo : public PlatformDemoApplication
virtual void pickObject(const btVector3& pickPos, const class btCollisionObject* hitObj);
class btMultiBodyPoint2Point* m_pickingMultiBodyPoint2Point;
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase, bool usePrismatic, bool canSleep, bool createConstraints);
btMultiBody* createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, const btMultiBodySettings& settings);
public: