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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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4
src/BulletDynamics/Featherstone/btMultiBodyPoint2Point.cpp
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@@ -131,7 +131,7 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
}
btScalar position = (pivotAworld-pivotBworld).dot(contactNormalOnB);
btScalar relaxation = 1.f;
fillMultiBodyConstraintMixed(constraintRow, data,
fillMultiBodyConstraintMixed_old(constraintRow, data,
contactNormalOnB,
pivotAworld, pivotBworld,
position,
@@ -278,7 +278,7 @@ void btMultiBodyPoint2Point::createConstraintRows(btMultiBodyConstraintArray& co
m_bodyA->fillContactJacobianMultiDof_test(m_linkA, pivotAworld, normalAng, contactNormalOnB, jac1, data.scratch_r, data.scratch_v, data.scratch_m);
fillMultiBodyConstraintMixed(constraintRow, data,
fillMultiBodyConstraintMixed_old(constraintRow, data,
contactNormalOnB,
pivotAworld, pivotBworld,
position,