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.
49 lines
2.1 KiB
C++
49 lines
2.1 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2013 Erwin Coumans http://bulletphysics.org
|
|
|
|
This software is provided 'as-is', without any express or implied warranty.
|
|
In no event will the authors be held liable for any damages arising from the use of this software.
|
|
Permission is granted to anyone to use this software for any purpose,
|
|
including commercial applications, and to alter it and redistribute it freely,
|
|
subject to the following restrictions:
|
|
|
|
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
|
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
|
3. This notice may not be removed or altered from any source distribution.
|
|
*/
|
|
|
|
#ifndef BT_MULTIBODY_DYNAMICS_WORLD_H
|
|
#define BT_MULTIBODY_DYNAMICS_WORLD_H
|
|
|
|
#include "BulletDynamics/Dynamics/btDiscreteDynamicsWorld.h"
|
|
|
|
|
|
class btMultiBody;
|
|
class btMultiBodyConstraintSolver;
|
|
|
|
///The btMultiBodyDynamicsWorld adds Featherstone multi body dynamics to Bullet
|
|
///This implementation is still preliminary/experimental.
|
|
class btMultiBodyDynamicsWorld : public btDiscreteDynamicsWorld
|
|
{
|
|
protected:
|
|
btAlignedObjectArray<btMultiBody*> m_multiBodies;
|
|
|
|
virtual void calculateSimulationIslands();
|
|
virtual void updateActivationState(btScalar timeStep);
|
|
virtual void solveConstraints(btContactSolverInfo& solverInfo);
|
|
virtual void integrateTransforms(btScalar timeStep);
|
|
public:
|
|
|
|
btMultiBodyDynamicsWorld(btDispatcher* dispatcher,btBroadphaseInterface* pairCache,btMultiBodyConstraintSolver* constraintSolver,btCollisionConfiguration* collisionConfiguration);
|
|
|
|
virtual ~btMultiBodyDynamicsWorld ();
|
|
|
|
virtual void addMultiBody(btMultiBody* body, short group= btBroadphaseProxy::DefaultFilter, short mask=btBroadphaseProxy::AllFilter);
|
|
|
|
virtual void removeMultiBody(btMultiBody* body);
|
|
|
|
|
|
};
|
|
#endif //BT_MULTIBODY_DYNAMICS_WORLD_H
|