yunfeibai
9c4cfde3d6
Fixed constraint for btMultiBody and btRigidBody.
2016-08-15 13:19:00 -07:00
erwincoumans
2920d7e61f
Only support btMultiBody multi-dof version (remove non-multi-dof path)
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Use ATTRIBUTE_ALIGNED16 for btMultiBody
Always disable parentCollision for btMultiBody::setupFixed
2015-11-05 21:17:46 -08:00
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3431773800
expose btMultiBodyConstraint applied impulse (force) on its degree of freedom(s),
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only tested for btMultiBodyJointMotor for now.
See also MultiBody/MultiBodyConstraintFeedback example
2015-07-06 23:00:46 -07:00
erwin coumans
6e9eb13235
implement joint reaction forces for mobilizer motor/limit, by passing the constraint forces as 'external forces' and going through the Articulated Body Algorithm
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minor refactor for forwardKinematics, store the cached world transform in each btMultiBody::link
2015-06-19 15:51:24 -07:00
erwincoumans
89edc40d61
First step in btMultiBody joint force/torque feedback. There is still some work to be done for 'mobilizer limit/motor'.
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See examples/MultiBody/TestJointTorqueSetup and examples/Constraints/TestHingeTorque for joint feedback.
2015-06-19 09:18:27 -07:00
Erwin Coumans
1a4ce475f7
fix an issue with btMultiBodyConstraint, automatically 'finalizeMultiDof' to pre-allocate jacobian data
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enable joint limit for slider/prismatic joint in btMultiBody version of URDF loader
2015-06-05 11:46:53 -07:00
Erwin Coumans
af5883c6e8
remove a lot of warnings (more todo in demos and serialization code)
2014-08-22 10:29:05 -07:00
kubas
ef6abf6490
unified btMultiBodyConstrained::fillMultiBodyConstraint..(...) mtds + cleaned some of the earlier dirty changes (6DoF grabbing constraint stuff mainly)
2014-01-09 01:09:44 +01:00
kubas
96ff69276f
multidof4 patch
2014-01-09 00:26:24 +01:00
erwin.coumans
0024c87316
move the m_maxAppliedImpulse into base class, and use it for motor strength/point to point constraint strength
2013-10-22 21:49:52 +00:00
erwin.coumans@gmail.com
488dd44835
Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody
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Allow picking of btMultiBody, using a btMultiBodyPoint2Point constraint, with limited strength to avoid adding too much energy to the system (= blowup)
Add btMultiBodyJointMotor, it can be used in combination with joint limit (just add the joint limit after the motor, to avoid jitter)
2013-10-05 01:46:32 +00:00
erwin.coumans@gmail.com
2fb686b937
change btMultiBody to allow removal/changing of links
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(still not easy to modify the link structure of a btMultiBody -> You have to manually re-link parents, copying links around etc)
2013-10-03 05:13:41 +00:00
erwin.coumans
75f17509cc
Add a virtual createConstraintRows method, to easier experiment with different kinds of btMultiBodyConstraint
2013-10-02 21:38:40 +00:00
erwin.coumans
c2bece5280
Enable btMultiBodyJointLimitConstraint, seems to be working for the prismatic joint
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Fix case sensitive issue, thanks to Martin Felis
Fix crash/bug in btMultiBodyConstraint computation
2013-10-02 20:14:48 +00:00
erwin.coumans
36cfbd47a6
preparation for joint limit constraint for Featherstone btMultiBody
2013-10-02 06:25:20 +00:00
