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fix in multi-endeffector IK, calculate jacobian uses dofs without base, fix premake build of some projects

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This commit is contained in:
Erwin Coumans
2019-07-11 22:22:35 -07:00
parent d503d1442a
commit 31688ffb34
6 changed files with 320 additions and 4 deletions
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examples/SharedMemory/PhysicsClientC_API.cpp
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@@ -4744,7 +4744,7 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3Physi
command->m_calculateJacobianArguments.m_localPosition[1] = localPosition[1];
command->m_calculateJacobianArguments.m_localPosition[2] = localPosition[2];
int numDofs = cl->getNumDofs(bodyUniqueId);
int numDofs = b3ComputeDofCount(physClient, bodyUniqueId);
for (int i = 0; i < numDofs; i++)
{
command->m_calculateJacobianArguments.m_jointPositionsQ[i] = jointPositionsQ[i];