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first experiments with RK4

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This commit is contained in:
kubas
2014-01-09 00:56:46 +01:00
parent cb556f9525
commit e5372f3712
5 changed files with 223 additions and 61 deletions
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19
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -138,6 +138,7 @@ public:
int getNumLinks() const { return m_links.size(); }
int getNumDofs() const { return m_dofCount; }
int getNumPosVars() const { return m_posVarCnt; }
btScalar getBaseMass() const { return m_baseMass; }
const btVector3 & getBaseInertia() const { return m_baseInertia; }
btScalar getLinkMass(int i) const;
@@ -375,7 +376,7 @@ public:
// timestep the positions (given current velocities).
void stepPositions(btScalar dt);
void stepPositionsMultiDof(btScalar dt);
void stepPositionsMultiDof(btScalar dt, btScalar *pq = 0, btScalar *pqd = 0);
//
@@ -481,6 +482,8 @@ public:
bool isMultiDof() { return m_isMultiDof; }
void forceMultiDof();
bool __posUpdated;
private:
btMultiBody(const btMultiBody &); // not implemented
void operator=(const btMultiBody &); // not implemented
@@ -492,7 +495,17 @@ private:
void solveImatrix(const btSpatialForceVector &rhs, btSpatialMotionVector &result) const;
#endif
void updateLinksDofOffsets() { int dofOffset = 0; for(int bidx = 0; bidx < m_links.size(); ++bidx) { m_links[bidx].m_dofOffset = dofOffset; dofOffset += m_links[bidx].m_dofCount; } }
void updateLinksDofOffsets()
{
int dofOffset = 0, cfgOffset = 0;
for(int bidx = 0; bidx < m_links.size(); ++bidx)
{
m_links[bidx].m_dofOffset = dofOffset; m_links[bidx].m_cfgOffset = cfgOffset;
dofOffset += m_links[bidx].m_dofCount; cfgOffset += m_links[bidx].m_posVarCount;
}
m_posVarCnt = cfgOffset;
}
void mulMatrix(btScalar *pA, btScalar *pB, int rowsA, int colsA, int rowsB, int colsB, btScalar *pC) const;
@@ -511,7 +524,7 @@ private:
btAlignedObjectArray<btMultibodyLink> m_links; // array of m_links, excluding the base. index from 0 to num_links-1.
btAlignedObjectArray<btMultiBodyLinkCollider*> m_colliders;
int m_dofCount;
int m_dofCount, m_posVarCnt;
//
// realBuf: