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add multibody interpolation transform so that collision detection is consistent with rigidbody

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Xuchen Han
2019-07-31 20:40:22 -07:00
parent ec403f790d
commit f1e7ce9ce1
10 changed files with 196 additions and 46 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
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@@ -96,7 +96,9 @@ public:
virtual void removeMultiBodyConstraint(btMultiBodyConstraint* constraint);
virtual void integrateTransforms(btScalar timeStep);
void integrateMultiBodyTransforms(btScalar timeStep,bool predict = false);
virtual void predictUnconstraintMotion(btScalar timeStep);
virtual void debugDrawWorld();
virtual void debugDrawMultiBodyConstraint(btMultiBodyConstraint* constraint);