add the option to shift the applied force/torque for a multibody joint (mobilizer) to the joint frame origin

2015-06-25 15:09:35 -07:00
parent 6a282601cf
commit 3b4ad1cd5a
3 changed files with 22 additions and 11 deletions
--- a/examples/MultiBody/TestJointTorqueSetup.cpp
+++ b/examples/MultiBody/TestJointTorqueSetup.cpp
@@ -235,7 +235,7 @@ void TestJointTorqueSetup::initPhysics()
            mbC->setAngularDamping(0.9f);
        }
        //
-    	m_dynamicsWorld->setGravity(btVector3(0,-1,-10));
+    	m_dynamicsWorld->setGravity(btVector3(0,0,-10));

        //////////////////////////////////////////////
        if(0)//numLinks > 0)