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Fix some crashes in FeatherstoneMultiBodyDemo, when using a fixed base

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Create two btMultiBody, one fixed and one free base
Preparation towards btMultiBodyConstraint
This commit is contained in:
erwin.coumans
2013-10-02 03:07:52 +00:00
parent f02dd51597
commit d8b6a02a7a
8 changed files with 397 additions and 35 deletions
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22
Demos/FeatherstoneMultiBodyDemo/FeatherstoneMultiBodyDemo.cpp
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@@ -209,18 +209,27 @@ void FeatherstoneMultiBodyDemo::initPhysics()
}
createFeatherstoneMultiBody(world, 10, btVector3 (20,29.5,-2), true);
createFeatherstoneMultiBody(world, 5, btVector3 (0,29.5,-2), false);
}
void FeatherstoneMultiBodyDemo::createFeatherstoneMultiBody(class btMultiBodyDynamicsWorld* world, int numLinks, const btVector3& basePosition,bool isFixedBase)
{
{
int n_links = 5;
int n_links = numLinks;
float mass = 13.5;
btVector3 inertia(91,344,253);
bool isFixedBase = false;
bool canSleep = true;//false;
btMultiBody * bod = new btMultiBody(n_links, mass, inertia, isFixedBase, canSleep);
btVector3 pos(0,9.5,-2);
//btQuaternion orn(btVector3(0,0,1),-0.25*SIMD_HALF_PI);//0,0,0,1);
btQuaternion orn(0,0,0,1);
bod->setBasePos(pos);
bod->setBasePos(basePosition);
bod->setWorldToBaseRot(orn);
btVector3 vel(0,0,0);
bod->setBaseVel(vel);
@@ -342,10 +351,9 @@ void FeatherstoneMultiBodyDemo::initPhysics()
world->addMultiBody(bod);
}
}
void FeatherstoneMultiBodyDemo::clientResetScene()
{
exitPhysics();