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

compare joint feedback between multi body and rigid body. initial results are promising (not exactly the same, but reasonably close)
2015-06-24 23:19:00 -07:00
parent b14afba350
commit d830681674
11 changed files with 426 additions and 164 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -616,7 +616,6 @@ private:
    btAlignedObjectArray<btVector3> m_vectorBuf;
    btAlignedObjectArray<btMatrix3x3> m_matrixBuf;

-    //std::auto_ptr<Eigen::LU<Eigen::Matrix<btScalar, 6, 6> > > cached_imatrix_lu;

 	btMatrix3x3 m_cachedInertiaTopLeft;
 	btMatrix3x3 m_cachedInertiaTopRight;