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Fix the desired angular velocity in IK to prevent flip motion.

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yunfeibai
2016-10-05 14:24:49 -07:00
parent ae5844d4fb
commit 0d58ebb311
2 changed files with 6 additions and 1 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -3136,7 +3136,6 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;
//loadUrdf("jz/jz.urdf", btVector3(0, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));