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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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17
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -59,7 +59,9 @@ public:
int parent,
const btQuaternion &rot_parent_to_this, // rotate points in parent frame to my frame.
const btVector3 &joint_axis, // in my frame
const btVector3 &r_vector_when_q_zero); // vector from parent COM to my COM, in my frame, when q = 0.
const btVector3 &r_vector_when_q_zero, // vector from parent COM to my COM, in my frame, when q = 0.
bool disableParentCollision=false
);
void setupRevolute(int i, // 0 to num_links-1
btScalar mass,
@@ -68,7 +70,8 @@ public:
const btQuaternion &zero_rot_parent_to_this, // rotate points in parent frame to this frame, when q = 0
const btVector3 &joint_axis, // in my frame
const btVector3 &parent_axis_position, // vector from parent COM to joint axis, in PARENT frame
const btVector3 &my_axis_position); // vector from joint axis to my COM, in MY frame
const btVector3 &my_axis_position, // vector from joint axis to my COM, in MY frame
bool disableParentCollision=false);
const btMultibodyLink& getLink(int index) const
{
@@ -384,6 +387,15 @@ public:
m_maxAppliedImpulse = maxImp;
}
void setHasSelfCollision(bool hasSelfCollision)
{
m_hasSelfCollision = hasSelfCollision;
}
bool hasSelfCollision() const
{
return m_hasSelfCollision;
}
private:
btMultiBody(const btMultiBody &); // not implemented
void operator=(const btMultiBody &); // not implemented
@@ -448,6 +460,7 @@ private:
btScalar m_angularDamping;
bool m_useGyroTerm;
btScalar m_maxAppliedImpulse;
bool m_hasSelfCollision;
};
#endif