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unified btMultiBodyConstrained::fillMultiBodyConstraint..(...) mtds + cleaned some of the earlier dirty changes (6DoF grabbing constraint stuff mainly)

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kubas
2014-01-09 01:09:44 +01:00
parent 0ba7d69f86
commit ef6abf6490
7 changed files with 254 additions and 925 deletions
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7
src/BulletDynamics/Featherstone/btMultiBody.h
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@@ -389,15 +389,18 @@ public:
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
//multidof version of fillContactJacobian
void fillContactJacobianMultiDof(int link,
const btVector3 &contact_point,
const btVector3 &normal,
btScalar *jac,
btAlignedObjectArray<btScalar> &scratch_r,
btAlignedObjectArray<btVector3> &scratch_v,
btAlignedObjectArray<btMatrix3x3> &scratch_m) const;
btAlignedObjectArray<btMatrix3x3> &scratch_m) const { filConstraintJacobianMultiDof(link, contact_point, btVector3(0, 0, 0), normal, jac, scratch_r, scratch_v, scratch_m); }
void fillContactJacobianMultiDof_test(int link,
//a more general version of fillContactJacobianMultiDof which does not assume..
//.. that the constraint in question is contact or, to be more precise, constrains linear velocity only
void filConstraintJacobianMultiDof(int link,
const btVector3 &contact_point,
const btVector3 &normal_ang,
const btVector3 &normal_lin,