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Enable btMultiBodyJointLimitConstraint, seems to be working for the prismatic joint

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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
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7
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h
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@@ -48,10 +48,17 @@ protected:
int m_tmpNumMultiBodyConstraints;
void resolveSingleConstraintRowGeneric(const btMultiBodySolverConstraint& c);
void resolveSingleConstraintRowGenericMultiBody(const btMultiBodySolverConstraint& c);
void convertContacts(btPersistentManifold** manifoldPtr,int numManifolds, const btContactSolverInfo& infoGlobal);
btMultiBodySolverConstraint& addMultiBodyFrictionConstraint(const btVector3& normalAxis,btPersistentManifold* manifold,int frictionIndex,btManifoldPoint& cp,btCollisionObject* colObj0,btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity=0, btScalar cfmSlip=0);
void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint& constraintRow,
btScalar* jacA,btScalar* jacB,
btScalar penetration,btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff,
const btContactSolverInfo& infoGlobal);
void setupMultiBodyContactConstraint(btMultiBodySolverConstraint& solverConstraint,
const btVector3& contactNormal,
btManifoldPoint& cp, const btContactSolverInfo& infoGlobal,