diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp | 46 |
1 files changed, 0 insertions, 46 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index bdaa473476..a1d5bb9ca8 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -583,52 +583,6 @@ void btMultiBody::compTreeLinkVelocities(btVector3 *omega, btVector3 *vel) const } } -btScalar btMultiBody::getKineticEnergy() const -{ - int num_links = getNumLinks(); - // TODO: would be better not to allocate memory here - btAlignedObjectArray<btVector3> omega; - omega.resize(num_links + 1); - btAlignedObjectArray<btVector3> vel; - vel.resize(num_links + 1); - compTreeLinkVelocities(&omega[0], &vel[0]); - - // we will do the factor of 0.5 at the end - btScalar result = m_baseMass * vel[0].dot(vel[0]); - result += omega[0].dot(m_baseInertia * omega[0]); - - for (int i = 0; i < num_links; ++i) - { - result += m_links[i].m_mass * vel[i + 1].dot(vel[i + 1]); - result += omega[i + 1].dot(m_links[i].m_inertiaLocal * omega[i + 1]); - } - - return 0.5f * result; -} - -btVector3 btMultiBody::getAngularMomentum() const -{ - int num_links = getNumLinks(); - // TODO: would be better not to allocate memory here - btAlignedObjectArray<btVector3> omega; - omega.resize(num_links + 1); - btAlignedObjectArray<btVector3> vel; - vel.resize(num_links + 1); - btAlignedObjectArray<btQuaternion> rot_from_world; - rot_from_world.resize(num_links + 1); - compTreeLinkVelocities(&omega[0], &vel[0]); - - rot_from_world[0] = m_baseQuat; - btVector3 result = quatRotate(rot_from_world[0].inverse(), (m_baseInertia * omega[0])); - - for (int i = 0; i < num_links; ++i) - { - rot_from_world[i + 1] = m_links[i].m_cachedRotParentToThis * rot_from_world[m_links[i].m_parent + 1]; - result += (quatRotate(rot_from_world[i + 1].inverse(), (m_links[i].m_inertiaLocal * omega[i + 1]))); - } - - return result; -} void btMultiBody::clearConstraintForces() { |