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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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14
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -93,7 +93,8 @@ btMultiBody::btMultiBody(int n_links,
m_linearDamping(0.04f),
m_angularDamping(0.04f),
m_useGyroTerm(true),
m_maxAppliedImpulse(1000.f)
m_maxAppliedImpulse(1000.f),
m_hasSelfCollision(true)
{
links.resize(n_links);
@@ -115,7 +116,8 @@ void btMultiBody::setupPrismatic(int i,
int parent,
const btQuaternion &rot_parent_to_this,
const btVector3 &joint_axis,
const btVector3 &r_vector_when_q_zero)
const btVector3 &r_vector_when_q_zero,
bool disableParentCollision)
{
links[i].mass = mass;
links[i].inertia = inertia;
@@ -126,6 +128,9 @@ void btMultiBody::setupPrismatic(int i,
links[i].e_vector = r_vector_when_q_zero;
links[i].is_revolute = false;
links[i].cached_rot_parent_to_this = rot_parent_to_this;
if (disableParentCollision)
links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
links[i].updateCache();
}
@@ -136,7 +141,8 @@ void btMultiBody::setupRevolute(int i,
const btQuaternion &zero_rot_parent_to_this,
const btVector3 &joint_axis,
const btVector3 &parent_axis_position,
const btVector3 &my_axis_position)
const btVector3 &my_axis_position,
bool disableParentCollision)
{
links[i].mass = mass;
links[i].inertia = inertia;
@@ -147,6 +153,8 @@ void btMultiBody::setupRevolute(int i,
links[i].d_vector = my_axis_position;
links[i].e_vector = parent_axis_position;
links[i].is_revolute = true;
if (disableParentCollision)
links[i].m_flags |=BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
links[i].updateCache();
}