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Add support for b3Generic6DofConstraint in Bullet, CPU only for now. Also the b3GpuDynamicsWorld supports conversion of this constraint.

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This means, picking works both with and without holding SHIFT (rayTest is only implemented for spheres)
This commit is contained in:
erwin coumans
2013-06-19 12:28:51 -07:00
parent f10eb86f55
commit aa1c2db35a
8 changed files with 1615 additions and 28 deletions
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src/Bullet3Dynamics/ConstraintSolver/b3PgsJacobiSolver.cpp
+2 -2
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@@ -1137,7 +1137,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
for (j=0;j<numConstraints;j++)
{
b3TypedConstraint* constraint = constraints[j];
constraint->buildJacobian();
constraint->internalSetAppliedImpulse(0.0f);
}
}
@@ -1169,7 +1169,7 @@ b3Scalar b3PgsJacobiSolver::solveGroupCacheFriendlySetup(b3RigidBodyCL* bodies,
}
if (constraints[i]->isEnabled())
{
constraints[i]->getInfo1(&info1);
constraints[i]->getInfo1(&info1,bodies);
} else
{
info1.m_numConstraintRows = 0;