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| author | Rémi Verschelde <rverschelde@gmail.com> | 2019-06-11 13:55:44 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2019-06-11 13:55:44 +0200 |
| commit | c499f1475f1c37c6d83985320a9e98a3d2711a2b (patch) | |
| tree | 8ceaa6bc1d5deb40b7c5fc998041ecd63ad122d9 /thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h | |
| parent | f0bacf360dbb6ce3781356438b2fa7067250d27c (diff) | |
| parent | 99acec63f175fecd7172c927263ed3787cb082d6 (diff) | |
Merge pull request #29418 from AndreaCatania/upbul
Updated Bullet version to the actual bullet master commit
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h index f39f2879fc..abf5718839 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h @@ -34,6 +34,7 @@ protected: btMultiBodyConstraintArray m_multiBodyNormalContactConstraints; btMultiBodyConstraintArray m_multiBodyFrictionContactConstraints; btMultiBodyConstraintArray m_multiBodyTorsionalFrictionContactConstraints; + btMultiBodyConstraintArray m_multiBodySpinningFrictionContactConstraints; btMultiBodyJacobianData m_data; @@ -54,6 +55,10 @@ protected: btScalar combinedTorsionalFriction, btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + btMultiBodySolverConstraint& addMultiBodySpinningFrictionConstraint(const btVector3& normalAxis, btPersistentManifold* manifold, int frictionIndex, btManifoldPoint& cp, + btScalar combinedTorsionalFriction, + btCollisionObject* colObj0, btCollisionObject* colObj1, btScalar relaxation, const btContactSolverInfo& infoGlobal, btScalar desiredVelocity = 0, btScalar cfmSlip = 0); + void setupMultiBodyJointLimitConstraint(btMultiBodySolverConstraint & constraintRow, btScalar * jacA, btScalar * jacB, btScalar penetration, btScalar combinedFrictionCoeff, btScalar combinedRestitutionCoeff, |