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Added a first version of a Featherstone multi body implementation.

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The original version was written by Stephen Thompson.
I replaced Eigen math by Bullet LinearMath, and added a dedicated 6x6 matrix solver. 
Also I integrated support for collisions/contact constraints between btMultiBody and btRigidBody, and de-activation support.
See Demos/FeatherstoneMultiBodyDemo/Win32FeatherstoneMultiBodyDemo.cpp for example usage.
There is currently only support for contact constraints for btMultiBody. 
Next on the list will be adding support for joint limit constraint for btMultiBody. 
The implementation is still experimental/untested, the quality will improve in upcoming Bullet releases.
This commit is contained in:
erwin.coumans
2013-10-01 22:50:31 +00:00
parent 7292867d25
commit f02dd51597
26 changed files with 3387 additions and 28 deletions
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3
Demos/CMakeLists.txt
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@@ -12,7 +12,7 @@ IF (USE_GLUT)
SET(SharedDemoSubdirs
OpenGL AllBulletDemos ConvexDecompositionDemo
CcdPhysicsDemo BulletXmlImportDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
RagdollDemo ForkLiftDemo BasicDemo RollingFrictionDemo RaytestDemo VoronoiFractureDemo
RagdollDemo ForkLiftDemo BasicDemo FeatherstoneMultiBodyDemo RollingFrictionDemo RaytestDemo VoronoiFractureDemo
GyroscopicDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
UserCollisionAlgorithm CharacterDemo SoftDemo
CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
@@ -56,6 +56,7 @@ ELSE (USE_GLUT)
InternalEdgeDemo
GimpactTestDemo
GyroscopicDemo
FeatherstoneMultiBodyDemo
GenericJointDemo
SerializeDemo
SoftDemo