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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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12
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
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@@ -66,15 +66,19 @@ protected:
btAlignedObjectArray<btScalar> m_data;
void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
btScalar* jacOrgA, btScalar* jacOrgB,
const btVector3& contactNormalOnB,
btScalar* jacOrgA, btScalar* jacOrgB,
const btVector3& constraintNormalAng,
const btVector3& constraintNormalLin,
const btVector3& posAworld, const btVector3& posBworld,
btScalar posError,
const btContactSolverInfo& infoGlobal,
btScalar lowerLimit, btScalar upperLimit,
btScalar lowerLimit, btScalar upperLimit,
bool angConstraint = false,
btScalar relaxation = 1.f,
bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0);