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add option for rigid body/typed constraint to set target velocity

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compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
This commit is contained in:
Erwin Coumans
2015-06-24 23:19:00 -07:00
parent b14afba350
commit d830681674
11 changed files with 426 additions and 164 deletions
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30
examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
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@@ -8,6 +8,17 @@
struct GUIHelperInterface;
class btMultiBody;
struct GenericConstraintUserInfo
{
int m_urdfIndex;
int m_urdfJointType;
btVector3 m_jointAxisInJointSpace;
int m_jointAxisIndex;
btScalar m_lowerJointLimit;
btScalar m_upperJointLimit;
};
class MyMultiBodyCreator : public MultiBodyCreationInterface
{
@@ -16,6 +27,7 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
struct GUIHelperInterface* m_guiHelper;
btAlignedObjectArray<btGeneric6DofSpring2Constraint*> m_6DofConstraints;
public:
@@ -37,12 +49,28 @@ public:
virtual class btGeneric6DofSpring2Constraint* allocateGeneric6DofSpring2Constraint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB, int rotateOrder=0);
virtual class btGeneric6DofSpring2Constraint* createPrismaticJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit);
virtual class btGeneric6DofSpring2Constraint* createRevoluteJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB,
const btVector3& jointAxisInJointSpace,btScalar jointLowerLimit,btScalar jointUpperLimit);
virtual class btGeneric6DofSpring2Constraint* createFixedJoint(int urdfLinkIndex, btRigidBody& rbA /*parent*/, btRigidBody& rbB, const btTransform& offsetInA, const btTransform& offsetInB);
virtual class btMultiBodyLinkCollider* allocateMultiBodyLinkCollider(int urdfLinkIndex, int mbLinkIndex, btMultiBody* body);
virtual void addLinkMapping(int urdfLinkIndex, int mbLinkIndex);
btMultiBody* getBulletMultiBody();
int getNum6DofConstraints() const
{
return m_6DofConstraints.size();
}
btGeneric6DofSpring2Constraint* get6DofConstraint(int index)
{
return m_6DofConstraints[index];
}
};
#endif //MY_MULTIBODY_CREATOR