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preparing for stabilization investigation: useRK4 is now a btMultiBody flag (not world's), reenabled global velocities (as a flag-controlled option), made the test application easier to handle for multiple multibodiez and added a max coordinate multibody (created from btMultiBody)

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kubas
2014-01-09 01:14:48 +01:00
parent 2cbcd86de9
commit aa87e47d2d
4 changed files with 39 additions and 36 deletions
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7
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -489,6 +489,11 @@ public:
bool isMultiDof() { return m_isMultiDof; }
void finalizeMultiDof();
void useRK4Integration(bool use) { m_useRK4 = use; }
bool isUsingRK4Integration() const { return m_useRK4; }
void useGlobalVelocities(bool use) { m_useGlobalVelocities = use; }
bool isUsingGlobalVelocities() const { return m_useGlobalVelocities; }
bool __posUpdated;
private:
@@ -530,6 +535,8 @@ private:
btAlignedObjectArray<btMultibodyLink> m_links; // array of m_links, excluding the base. index from 0 to num_links-1.
btAlignedObjectArray<btMultiBodyLinkCollider*> m_colliders;
int m_dofCount, m_posVarCnt;
bool m_useRK4, m_useGlobalVelocities;
//
// realBuf: