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.
6 lines
292 B
Makefile
6 lines
292 B
Makefile
if CONDITIONAL_BUILD_MULTITHREADED
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SUBDIRS=OpenGL BasicDemo FeatherstoneMultiBodyDemo TerrainDemo VehicleDemo CcdPhysicsDemo MultiThreadedDemo SoftDemo AllBulletDemos
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else
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SUBDIRS=OpenGL BasicDemo FeatherstoneMultiBodyDemo TerrainDemo VehicleDemo CcdPhysicsDemo SoftDemo AllBulletDemos
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endif
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