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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2019-01-23 17:35:55 -08:00
parent e637b24237 a3ec60da67
commit 5da375b93c
2 changed files with 10 additions and 4 deletions
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4
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -92,8 +92,8 @@ struct TinyRendererVisualShapeConverterInternalData
SimpleCamera m_camera; SimpleCamera m_camera;
TinyRendererVisualShapeConverterInternalData() TinyRendererVisualShapeConverterInternalData()
: m_upAxis(2), : m_uidGenerator(1),
m_uidGenerator(1), m_upAxis(2),
m_swWidth(START_WIDTH), m_swWidth(START_WIDTH),
m_swHeight(START_HEIGHT), m_swHeight(START_HEIGHT),
m_rgbColorBuffer(START_WIDTH, START_HEIGHT, TGAImage::RGB), m_rgbColorBuffer(START_WIDTH, START_HEIGHT, TGAImage::RGB),

10
src/BulletInverseDynamics/details/MultiBodyTreeImpl.cpp
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@@ -486,7 +486,10 @@ int MultiBodyTree::MultiBodyImpl::calculateKinematics(const vecx &q, const vecx
transformZ(q(body.m_q_index + 2)); transformZ(q(body.m_q_index + 2));
body.m_body_T_parent = T * body.m_body_T_parent_ref; body.m_body_T_parent = T * body.m_body_T_parent_ref;
body.m_parent_pos_parent_body.setValue(0,0,0); body.m_parent_pos_parent_body(0)=0;
body.m_parent_pos_parent_body(1)=0;
body.m_parent_pos_parent_body(2)=0;
body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body; body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
if (type >= POSITION_VELOCITY) if (type >= POSITION_VELOCITY)
@@ -850,7 +853,10 @@ int MultiBodyTree::MultiBodyImpl::calculateMassMatrix(const vecx &q, const bool
transformZ(q(body.m_q_index + 2)); transformZ(q(body.m_q_index + 2));
body.m_body_T_parent = T * body.m_body_T_parent_ref; body.m_body_T_parent = T * body.m_body_T_parent_ref;
body.m_parent_pos_parent_body.setValue(0, 0, 0); body.m_parent_pos_parent_body(0)=0;
body.m_parent_pos_parent_body(1)=0;
body.m_parent_pos_parent_body(2)=0;
body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body; body.m_parent_pos_parent_body = body.m_body_T_parent * body.m_parent_pos_parent_body;
} }
} }