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fix a bug related to gyroscopic forces in btMultiBody

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This commit is contained in:
Erwin Coumans
2015-02-13 18:27:01 -08:00
parent d8b08eaf2a
commit 4e02f6673b
1 changed files with 1 additions and 1 deletions
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src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -1265,7 +1265,7 @@ void btMultiBody::stepVelocitiesMultiDof(btScalar dt,
// //
//p += vhat x Ihat vhat - done in a simpler way //p += vhat x Ihat vhat - done in a simpler way
if(m_useGyroTerm) 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())); 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()); //btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());