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

Enable btMultiBodyJointLimitConstraint, seems to be working for the prismatic joint

Browse Source 
Fix case sensitive issue, thanks to Martin Felis
Fix crash/bug in btMultiBodyConstraint computation
This commit is contained in:
erwin.coumans
2013-10-02 20:14:48 +00:00
parent 36cfbd47a6
commit c2bece5280
7 changed files with 378 additions and 49 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
View File

@@ -202,7 +202,6 @@ void FeatherstoneMultiBodyDemo::initPhysics()
btRigidBody::btRigidBodyConstructionInfo rbInfo(mass,myMotionState,colShape,localInertia);
btRigidBody* body = new btRigidBody(rbInfo);
m_dynamicsWorld->addRigidBody(body);//,1,1+2);
}
}
@@ -210,7 +209,7 @@ void FeatherstoneMultiBodyDemo::initPhysics()
}
createFeatherstoneMultiBody(world, 3, btVector3 (20,29.5,-2), true, false);//true);
createFeatherstoneMultiBody(world, 5, btVector3 (20,29.5,-2), true, true);
createFeatherstoneMultiBody(world, 5, btVector3 (0,29.5,-2), false,false);
@@ -277,7 +276,7 @@ void FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDyn
//add some constraint limit
if (usePrismatic)
{
btMultiBodyConstraint* limit = new btMultiBodyJointLimitConstraint(bod,n_links-1,2,2);
btMultiBodyConstraint* limit = new btMultiBodyJointLimitConstraint(bod,n_links-1,2,3);
world->addMultiBodyConstraint(limit);
}
}