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75f17509cc9bc537ef0a6f76cec49fea3b937c4b
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4 Commits

Author SHA1 Message Date
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
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