Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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

Browse Source
This commit is contained in:
kubas
2014-01-09 01:09:44 +01:00
parent 0ba7d69f86
commit ef6abf6490
7 changed files with 254 additions and 925 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
View File

@@ -82,13 +82,15 @@ void btMultiBodyJointMotor::createConstraintRows(btMultiBodyConstraintArray& con
// directions were set in the ctor and never change.
const btScalar posError = 0;
const btVector3 dummy(0, 0, 0);
for (int row=0;row<getNumRows();row++)
{
btMultiBodySolverConstraint& constraintRow = constraintRows.expandNonInitializing();
btScalar penetration = 0;
fillConstraintRowMultiBodyMultiBody(constraintRow,data,jacobianA(row),jacobianB(row),infoGlobal,m_desiredVelocity,-m_maxAppliedImpulse,m_maxAppliedImpulse);
fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,-m_maxAppliedImpulse,m_maxAppliedImpulse,1,false,m_desiredVelocity);
}
}