5383ed4930
+ fixes in compound algorithm -> recompute contact points + add debug drawing to some demos. + revert btJacobianEntry change + replace dCROSSMAT by btVector3::getSkewSymmetricMatrix
32 lines
1.3 KiB
C++
32 lines
1.3 KiB
C++
/*
|
|
Bullet Continuous Collision Detection and Physics Library
|
|
Copyright (c) 2003-2008 Erwin Coumans http://bulletphysics.com
|
|
|
|
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.
|
|
*/
|
|
|
|
#include "RagdollDemo.h"
|
|
#include "GlutStuff.h"
|
|
#include "GLDebugDrawer.h"
|
|
#include "btBulletDynamicsCommon.h"
|
|
|
|
GLDebugDrawer gDebugDrawer;
|
|
|
|
int main(int argc,char* argv[])
|
|
{
|
|
RagdollDemo demoApp;
|
|
|
|
demoApp.initPhysics();
|
|
demoApp.getDynamicsWorld()->setDebugDrawer(&gDebugDrawer);
|
|
|
|
return glutmain(argc, argv,640,480,"Bullet Physics Demo. http://bullet.sf.net",&demoApp);
|
|
}
|