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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
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
5d40d90bd0
add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,
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then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.
2015-03-03 13:24:06 -08:00
erwincoumans
bd16df8dd6
add basic debug drawing interface for btMultiBodyPoint2Point constraint
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add basic debug drawing drawText3D in SimpleOpenGL3App
remove a few warnings
add drawTexturedRect3D to GLPrimitiveRenderer to support debug drawing
2015-01-27 10:45:56 -08:00
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
eb66b22034
dirty commit: starting to unify btMultiBoydConstraint::fillMultiBodyConstraint..(..)
2014-01-09 01:06:58 +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
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
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
erwin.coumans
d8b6a02a7a
Fix some crashes in FeatherstoneMultiBodyDemo, when using a fixed base
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Create two btMultiBody, one fixed and one free base
Preparation towards btMultiBodyConstraint
2013-10-02 03:07:52 +00:00
