From 4e02f6673b6a3921a62e027bdd1efbfc777d3276 Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Fri, 13 Feb 2015 18:27:01 -0800 Subject: [PATCH] fix a bug related to gyroscopic forces in btMultiBody --- src/BulletDynamics/Featherstone/btMultiBody.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index 3786ead2a..40d8ceaa1 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -1265,7 +1265,7 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt, // //p += vhat x Ihat vhat - done in a simpler way if(m_useGyroTerm) - zeroAccSpatFrc[i+1].addAngular(spatVel[i+1].getAngular().cross(m_baseInertia * spatVel[i+1].getAngular())); + zeroAccSpatFrc[i+1].addAngular(spatVel[i+1].getAngular().cross(m_links[i].m_inertiaLocal * spatVel[i+1].getAngular())); // zeroAccSpatFrc[i+1].addLinear(m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear())); //btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());