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fixed a jacobian sizing bug (m_jacSizeBoth)

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kubas
2014-01-09 01:07:53 +01:00
parent eb66b22034
commit 0ba7d69f86
1 changed files with 3 additions and 1 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyConstraint.cpp
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@@ -28,7 +28,9 @@ btMultiBodyConstraint::btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bod
m_jacSizeBoth = m_jacSizeA + 6 + bodyB->getNumDofs(); m_jacSizeBoth = m_jacSizeA + 6 + bodyB->getNumDofs();
else else
m_jacSizeBoth = m_jacSizeA + 6 + bodyB->getNumLinks(); m_jacSizeBoth = m_jacSizeA + 6 + bodyB->getNumLinks();
} }
else
m_jacSizeBoth = m_jacSizeA;
m_posOffset = ((1 + m_jacSizeBoth)*m_numRows); m_posOffset = ((1 + m_jacSizeBoth)*m_numRows);
m_data.resize((2 + m_jacSizeBoth) * m_numRows); m_data.resize((2 + m_jacSizeBoth) * m_numRows);