f02dd51597
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.
69 lines
1.6 KiB
CMake
69 lines
1.6 KiB
CMake
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IF (USE_DX11 AND BUILD_MULTITHREADING)
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SUBDIRS(DX11ClothDemo)
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ENDIF()
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SUBDIRS( HelloWorld )
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IF (USE_GLUT)
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IF (GLUT_FOUND)
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IF(BUILD_CPU_DEMOS)
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SET(SharedDemoSubdirs
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OpenGL AllBulletDemos ConvexDecompositionDemo
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CcdPhysicsDemo BulletXmlImportDemo ConstraintDemo SliderConstraintDemo GenericJointDemo Raytracer
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RagdollDemo ForkLiftDemo BasicDemo FeatherstoneMultiBodyDemo RollingFrictionDemo RaytestDemo VoronoiFractureDemo
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GyroscopicDemo FractureDemo Box2dDemo BspDemo MovingConcaveDemo VehicleDemo
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UserCollisionAlgorithm CharacterDemo SoftDemo
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CollisionInterfaceDemo ConcaveConvexcastDemo SimplexDemo DynamicControlDemo
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ConvexHullDistance
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DoublePrecisionDemo ConcaveDemo CollisionDemo
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ContinuousConvexCollision ConcaveRaycastDemo GjkConvexCastDemo
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MultiMaterialDemo SerializeDemo InternalEdgeDemo
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)
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ELSE()
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SET(SharedDemoSubdirs OpenGL )
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ENDIF(BUILD_CPU_DEMOS)
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IF(BUILD_MULTITHREADING)
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SUBDIRS( MultiThreadedDemo OpenCLClothDemo )
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ENDIF(BUILD_MULTITHREADING)
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SUBDIRS(
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${SharedDemoSubdirs}
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Benchmarks
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)
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IF(BUILD_MULTITHREADING)
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SUBDIRS( ThreadingDemo VectorAdd_OpenCL )
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ENDIF()
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ENDIF(GLUT_FOUND)
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ELSE (USE_GLUT)
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IF (WIN32)
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SUBDIRS(
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OpenGL
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BasicDemo
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RaytestDemo
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FractureDemo
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Benchmarks
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Box2dDemo
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CollisionInterfaceDemo
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ConcaveDemo
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ConstraintDemo
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RollingFrictionDemo
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ConvexDecompositionDemo
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InternalEdgeDemo
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GimpactTestDemo
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GyroscopicDemo
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FeatherstoneMultiBodyDemo
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GenericJointDemo
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SerializeDemo
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SoftDemo
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VectorAdd_OpenCL
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VoronoiFractureDemo
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)
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ENDIF(WIN32)
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ENDIF (USE_GLUT)
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