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7e4b1c1c8a0c36c7ec93383f42641e5c53913a3a
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13 Commits

Author SHA1 Message Date
Erwin Coumans
7e4b1c1c8a add MultiDofDemo (Featherstone 3DOF spherical joint) 
minor prettify of BasicDemo,RagdollDemo.
require 'multiDof' argument in btMultiBody.h (not default=false)
 2014-01-10 16:34:39 -08:00
kubas
aa87e47d2d preparing for stabilization investigation: useRK4 is now a btMultiBody flag (not world's), reenabled global velocities (as a flag-controlled option), made the test application easier to handle for multiple multibodiez and added a max coordinate multibody (created from btMultiBody) 2014-01-09 01:14:48 +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
81447aa7c5 dirty commit: experimenting with the 6DoF grabbing/p2p constraint 2014-01-09 01:03:20 +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
96ff69276f multidof4 patch 2014-01-09 00:26:24 +01:00
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 
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
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
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