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fix applied too fast

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This commit is contained in:
Erwin Coumans
2018-08-03 17:57:09 -07:00
parent 02b0e34bda
commit 684b69f4dd
1 changed files with 2 additions and 3 deletions
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5
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -967,12 +967,11 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
// //
Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof]
- m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1]) - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
- spatCoriolisAcc[i].dot(hDof) - spatCoriolisAcc[i].dot(hDof);
;
} }
for(int dof = 0; dof < m_links[i].m_dofCount; ++dof) for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
} {
btScalar *D_row = &D[dof * m_links[i].m_dofCount]; btScalar *D_row = &D[dof * m_links[i].m_dofCount];
for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2) for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
{ {