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Fixed constraint for btMultiBody and btRigidBody.

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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
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10
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -466,6 +466,16 @@ btVector3 btMultiBody::worldDirToLocal(int i, const btVector3 &world_dir) const
}
}
btMatrix3x3 btMultiBody::localFrameToWorld(int i, const btMatrix3x3 &local_frame) const
{
btMatrix3x3 result = local_frame;
btVector3 frameInWorld0 = localDirToWorld(i, local_frame.getColumn(0));
btVector3 frameInWorld1 = localDirToWorld(i, local_frame.getColumn(1));
btVector3 frameInWorld2 = localDirToWorld(i, local_frame.getColumn(2));
result.setValue(frameInWorld0[0], frameInWorld1[0], frameInWorld2[0], frameInWorld0[1], frameInWorld1[1], frameInWorld2[1], frameInWorld0[2], frameInWorld1[2], frameInWorld2[2]);
return result;
}
void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const
{
int num_links = getNumLinks();