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add option to disable btMultiBody self-collision (for the entire hierarchy) or to disable parent-child collision for jointed links.

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This commit is contained in:
erwin.coumans@gmail.com
2013-10-08 00:50:40 +00:00
parent 34d975143e
commit d4640227ce
5 changed files with 68 additions and 12 deletions
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13
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -264,7 +264,8 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, isFixedBase, canSleep);
// bod->setHasSelfCollision(false);
//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
btQuaternion orn(0,0,0,1);
bod->setBasePos(basePosition);
@@ -297,15 +298,17 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
const int child_link_num = link_num_counter++;
bool disableParentCollision = false;
if (usePrismatic)// && i==(n_links-1))
{
bod->setupPrismatic(child_link_num, mass, inertia, this_link_num,
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos));
parent_to_child, joint_axis_child_prismatic, quatRotate(parent_to_child , pos),disableParentCollision);
} else
{
bod->setupRevolute(child_link_num, mass, inertia, this_link_num,parent_to_child, joint_axis_child_hinge,
joint_axis_position,quatRotate(parent_to_child , (pos - joint_axis_position)));
joint_axis_position,quatRotate(parent_to_child , (pos - joint_axis_position)),disableParentCollision);
}
bod->setJointPos(child_link_num, initial_joint_angle);
this_link_num = i;
@@ -381,7 +384,7 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
body->setWorldTransform(tr);
col->setWorldTransform(tr);
world->addCollisionObject(col, 2,1);
world->addCollisionObject(col, 2,1+2);
col->setFriction(friction);
bod->setBaseCollider(col);
@@ -415,7 +418,7 @@ btMultiBody* FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMult
tr.setRotation(btQuaternion(quat[0],quat[1],quat[2],quat[3]));
col->setWorldTransform(tr);
col->setFriction(friction);
world->addCollisionObject(col,2,1);
world->addCollisionObject(col,2,1+2);
bod->getLink(i).m_collider=col;
//app->drawBox(halfExtents, pos,quat);