From 8ccd67727f6ad1744992f6d4bb482f1f10c9e9ff Mon Sep 17 00:00:00 2001 From: WenlongLu Date: Fri, 13 Nov 2020 15:56:09 -0800 Subject: [PATCH] Add KinematicMultiBodyExample to premake4.lua --- examples/ExampleBrowser/premake4.lua | 1 + examples/MultiBody/KinematicMultiBodyExample.cpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/examples/ExampleBrowser/premake4.lua b/examples/ExampleBrowser/premake4.lua index 483454ad6..e28676350 100644 --- a/examples/ExampleBrowser/premake4.lua +++ b/examples/ExampleBrowser/premake4.lua @@ -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", diff --git a/examples/MultiBody/KinematicMultiBodyExample.cpp b/examples/MultiBody/KinematicMultiBodyExample.cpp index c44001ab8..aad4845d6 100644 --- a/examples/MultiBody/KinematicMultiBodyExample.cpp +++ b/examples/MultiBody/KinematicMultiBodyExample.cpp @@ -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);