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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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23
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -273,14 +273,6 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
int i;
//find the first constraint for this island
for (i=0;i<m_numMultiBodyConstraints;i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
break;
}
}
for (i=0;i<m_numConstraints;i++)
{
@@ -290,9 +282,6 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
break;
}
}
//count the number of constraints in this island
for (;i<m_numConstraints;i++)
{
@@ -302,6 +291,15 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
}
}
for (i=0;i<m_numMultiBodyConstraints;i++)
{
if (btGetMultiBodyConstraintIslandId(m_multiBodySortedConstraints[i]) == islandId)
{
startMultiBodyConstraint = &m_multiBodySortedConstraints[i];
break;
}
}
//count the number of multi body constraints in this island
for (;i<m_numMultiBodyConstraints;i++)
{
@@ -323,6 +321,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
m_manifolds.push_back(manifolds[i]);
for (i=0;i<numCurConstraints;i++)
m_constraints.push_back(startConstraint[i]);
for (i=0;i<numCurMultiBodyConstraints;i++)
m_multiBodyConstraints.push_back(startMultiBodyConstraint[i]);
@@ -348,7 +347,7 @@ struct MultiBodyInplaceSolverIslandCallback : public btSimulationIslandManager::
m_bodies.resize(0);
m_manifolds.resize(0);
m_constraints.resize(0);
m_multiBodyConstraints.resize(0);
}
};