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

add door.urdf for testing damping/friction
2016-03-17 14:54:46 -07:00
parent 937b6d84e5
commit fe92de3e50
15 changed files with 1005 additions and 874 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -691,8 +691,9 @@ struct btMultiBodyLinkDoubleData
 	double					m_jointPos[7];
 	double					m_jointVel[6];
 	double					m_jointTorque[6];
-	
-	
+
+	double					m_jointDamping;
+	double					m_jointFriction;
 	
 };

@@ -721,7 +722,8 @@ struct btMultiBodyLinkFloatData
 	float					m_jointVel[6];
 	float					m_jointTorque[6];
 	int						m_posVarCount;
-	
+	float					m_jointDamping;
+	float					m_jointFriction;

 };