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dirty commit: starting to unify btMultiBoydConstraint::fillMultiBodyConstraint..(..)

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kubas
2014-01-09 01:06:58 +01:00
parent 87a98939eb
commit eb66b22034
4 changed files with 369 additions and 7 deletions
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12
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
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@@ -66,7 +66,7 @@ protected:
void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
void fillMultiBodyConstraintMixed(btMultiBodySolverConstraint& solverConstraint,
void fillMultiBodyConstraintMixed_old(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
@@ -83,6 +83,16 @@ protected:
btScalar lowerLimit,
btScalar upperLimit);
void fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
btScalar* jacOrgA, btScalar* jacOrgB,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
btScalar position,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
public:
btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);