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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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26
src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
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@@ -66,32 +66,16 @@ protected:
void applyDeltaVee(btMultiBodyJacobianData& data, btScalar* delta_vee, btScalar impulse, int velocityIndex, int ndof);
void fillMultiBodyConstraintMixed_old(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
btScalar position,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
btScalar fillConstraintRowMultiBodyMultiBody(btMultiBodySolverConstraint& constraintRow,
btMultiBodyJacobianData& data,
btScalar* jacOrgA,btScalar* jacOrgB,
const btContactSolverInfo& infoGlobal,
btScalar desiredVelocity,
btScalar lowerLimit,
btScalar upperLimit);
void fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
btScalar fillMultiBodyConstraint(btMultiBodySolverConstraint& solverConstraint,
btMultiBodyJacobianData& data,
btScalar* jacOrgA, btScalar* jacOrgB,
const btVector3& contactNormalOnB,
const btVector3& posAworld, const btVector3& posBworld,
btScalar position,
btScalar posError,
const btContactSolverInfo& infoGlobal,
btScalar& relaxation,
bool isFriction, btScalar desiredVelocity=0, btScalar cfmSlip=0);
btScalar lowerLimit, btScalar upperLimit,
btScalar relaxation = 1.f,
bool isFriction = false, btScalar desiredVelocity=0, btScalar cfmSlip=0);
public: