Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fixed constraint for btMultiBody and btRigidBody.

Browse Source
This commit is contained in:
yunfeibai
2016-08-15 13:19:00 -07:00
parent e982b2b5dd
commit 9c4cfde3d6
12 changed files with 708 additions and 334 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
examples/MultiBody/MultiDofDemo.cpp
View File

@@ -10,6 +10,7 @@
#include "BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.h"
#include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
#include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
#include "BulletDynamics/Featherstone/btMultiBodyFixedConstraint.h"
#include "../OpenGLWindow/GLInstancingRenderer.h"
#include "BulletCollision/CollisionShapes/btShapeHull.h"
@@ -134,7 +135,8 @@ void MultiDofDemo::initPhysics()
bool spherical = true; //set it ot false -to use 1DoF hinges instead of 3DoF sphericals
bool multibodyOnly = false;
bool canSleep = true;
bool selfCollide = false;
bool selfCollide = false;
bool multibodyConstraint = true;
btVector3 linkHalfExtents(0.05, 0.37, 0.1);
btVector3 baseHalfExtents(0.05, 0.37, 0.1);
@@ -236,7 +238,18 @@ void MultiDofDemo::initPhysics()
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
if (multibodyConstraint) {
btVector3 pointInA = -linkHalfExtents;
btVector3 pointInB = halfExtents;
btMatrix3x3 frameInA;
btMatrix3x3 frameInB;
frameInA.setIdentity();
frameInB.setIdentity();
btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,body,pointInA,pointInB,frameInA,frameInB);
//btMultiBodyFixedConstraint* p2p = new btMultiBodyFixedConstraint(mbC,numLinks-1,mbC,numLinks-4,pointInA,pointInA,frameInA,frameInB);
p2p->setMaxAppliedImpulse(2.0);
m_dynamicsWorld->addMultiBodyConstraint(p2p);
}
}
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);