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Add support for b3Generic6DofConstraint in Bullet, CPU only for now. Also the b3GpuDynamicsWorld supports conversion of this constraint.

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This means, picking works both with and without holding SHIFT (rayTest is only implemented for spheres)
This commit is contained in:
erwin coumans
2013-06-19 12:28:51 -07:00
parent f10eb86f55
commit aa1c2db35a
8 changed files with 1615 additions and 28 deletions
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17
src/Bullet3Dynamics/ConstraintSolver/b3Point2PointConstraint.cpp
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@@ -41,22 +41,13 @@ m_useSolveConstraintObsolete(false)
}
*/
void b3Point2PointConstraint::buildJacobian()
void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
{
///we need it for both methods
{
m_appliedImpulse = b3Scalar(0.);
}
getInfo1NonVirtual(info,bodies);
}
void b3Point2PointConstraint::getInfo1 (b3ConstraintInfo1* info)
{
getInfo1NonVirtual(info);
}
void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info)
void b3Point2PointConstraint::getInfo1NonVirtual (b3ConstraintInfo1* info,const b3RigidBodyCL* bodies)
{
if (m_useSolveConstraintObsolete)
{