kubas
736ba01423
minor clean-up
2014-01-09 01:10:45 +01:00
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
0ba7d69f86
fixed a jacobian sizing bug (m_jacSizeBoth)
2014-01-09 01:07:53 +01:00
kubas
eb66b22034
dirty commit: starting to unify btMultiBoydConstraint::fillMultiBodyConstraint..(..)
2014-01-09 01:06:58 +01:00
kubas
87a98939eb
tighter packing in btMultiBodySolverConstraint
2014-01-09 01:04:39 +01:00
kubas
81447aa7c5
dirty commit: experimenting with the 6DoF grabbing/p2p constraint
2014-01-09 01:03:20 +01:00
kubas
c0530d31ec
minor naming chamge
2014-01-09 01:02:11 +01:00
kubas
66fdc1704b
RK4 for floating systems too
2014-01-09 01:01:03 +01:00
kubas
c5594a5826
a bit of rk4 clean-up
2014-01-09 00:59:48 +01:00
kubas
4eac9a11f3
made the multiDof-singleDof disctinction a bit cleaner
2014-01-09 00:58:31 +01:00
kubas
e5372f3712
first experiments with RK4
2014-01-09 00:56:46 +01:00
kubas
cb556f9525
dirty changes - stabilization hacks
2014-01-09 00:51:42 +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
f22ceecb82
Fix Featherstone btMultiBodyPoint2Point constraint and picking: don't assume body 0 is the fixed body!
2013-10-22 21:06:47 +00:00
erwin.coumans@gmail.com
a21480c8ca
Attempt to fix "Regression in friction and damping behaviour" , see issue 752
...
Thanks to Sergej Reich for the report and narrowing down the breaking revision!
2013-10-22 09:26:08 +00:00
erwin.coumans@gmail.com
d4640227ce
add option to disable btMultiBody self-collision (for the entire hierarchy) or to disable parent-child collision for jointed links.
2013-10-08 00:50:40 +00:00
erwin.coumans@gmail.com
34d975143e
expose maximum applied impulse for btMultiBody, introduced to reduce/avoid 'exploding' simulations
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use btScalar instead of float, to enable double precision build, fix for Issue 744
2013-10-06 17:13:08 +00:00
erwin.coumans@gmail.com
488dd44835
Added btMultiBodyPoint2Point, it can be used between btMultiBody vs btMultiBody or btMultiBody vs btRigidBody
...
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
...
(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
...
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
erwin.coumans
d8b6a02a7a
Fix some crashes in FeatherstoneMultiBodyDemo, when using a fixed base
...
Create two btMultiBody, one fixed and one free base
Preparation towards btMultiBodyConstraint
2013-10-02 03:07:52 +00:00
erwin.coumans
f02dd51597
Added a first version of a Featherstone multi body implementation.
...
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.
2013-10-01 22:50:31 +00:00
