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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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8
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -20,7 +20,9 @@ subject to the following restrictions:
class btMultiBody;
class btMultiBodyConstraint;
class btMultiBodyConstraintSolver;
struct MultiBodyInplaceSolverIslandCallback;
///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
///This implementation is still preliminary/experimental.
@@ -28,6 +30,10 @@ class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
{
protected:
btAlignedObjectArray<btMultiBody*> m_multiBodies;
btAlignedObjectArray<btMultiBodyConstraint*> m_multiBodyConstraints;
btAlignedObjectArray<btMultiBodyConstraint*> m_sortedMultiBodyConstraints;
btMultiBodyConstraintSolver* m_multiBodyConstraintSolver;
MultiBodyInplaceSolverIslandCallback* m_solverMultiBodyIslandCallback;
virtual void calculateSimulationIslands();
virtual void updateActivationState(btScalar timeStep);
@@ -43,6 +49,8 @@ public:
virtual void removeMultiBody(btMultiBody* body);
virtual void addMultiBodyConstraint( btMultiBodyConstraint* constraint);
virtual void removeMultiBodyConstraint( btMultiBodyConstraint* constraint);
};
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H