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add infrastructure float btMultiBodyLink m_jointDamping, m_jointFriction (actual damping/friction is in a separate commit)

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add door.urdf for testing damping/friction
This commit is contained in:
erwincoumans
2016-03-17 14:54:46 -07:00
parent 937b6d84e5
commit fe92de3e50
15 changed files with 1005 additions and 874 deletions
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src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -1899,6 +1899,9 @@ const char* btMultiBody::serialize(void* dataBuffer, class btSerializer* seriali
getLink(i).m_inertiaLocal.serialize(memPtr->m_linkInertia);
memPtr->m_linkMass = getLink(i).m_mass;
memPtr->m_parentIndex = getLink(i).m_parent;
memPtr->m_jointDamping = getLink(i).m_jointDamping;
memPtr->m_jointFriction = getLink(i).m_jointFriction;
getLink(i).m_eVector.serialize(memPtr->m_parentComToThisComOffset);
getLink(i).m_dVector.serialize(memPtr->m_thisPivotToThisComOffset);
getLink(i).m_zeroRotParentToThis.serialize(memPtr->m_zeroRotParentToThis);