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Add KinematicMultiBodyExample to premake4.lua

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This commit is contained in:
WenlongLu
2020-11-13 15:56:09 -08:00
parent 56b42925d8
commit 8ccd67727f
2 changed files with 2 additions and 1 deletions
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1
examples/ExampleBrowser/premake4.lua
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@@ -196,6 +196,7 @@ project "App_BulletExampleBrowser"
"../MultiBody/MultiBodySoftContact.cpp",
"../MultiBody/MultiBodyConstraintFeedback.cpp",
"../MultiBody/InvertedPendulumPDControl.cpp",
"../MultiBody/KinematicMultiBodyExample.cpp",
"../RigidBody/RigidBodySoftContact.cpp",
"../RigidBody/KinematicRigidBodyExample.cpp",
"../ThirdPartyLibs/stb_image/stb_image.cpp",

2
examples/MultiBody/KinematicMultiBodyExample.cpp
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@@ -38,7 +38,7 @@ void kinematicPreTickCallback(btDynamicsWorld* world, btScalar deltaTime)
btTransformUtil::integrateTransform(groundBody->getBaseWorldTransform(), linearVelocity, angularVelocity, deltaTime, predictedTrans);
groundBody->setBaseWorldTransform(predictedTrans);
static float time = 0.0;
static float time = 0.0;
time += deltaTime;
double old_joint_pos = groundBody->getJointPos(0);
double joint_pos = 0.5 * sin(time * 3.0 - 0.3);