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Merge pull request #1820 from erwincoumans/master

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fix previous revert of btMultiBody.cpp
This commit is contained in:
erwincoumans
2018-08-03 18:05:59 -07:00
committed by GitHub
parent 961d8adad1 684b69f4dd
commit 6fe1b000e5
1 changed files with 3 additions and 4 deletions
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7
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -781,7 +781,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
// hhat is NOT stored for the base (but ahat is) // hhat is NOT stored for the base (but ahat is)
btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0); btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr; btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr;
// v_ptr += num_links * 2 + 2; // Disabled since v_ptr is not used in the rest of the code v_ptr += num_links * 2 + 2;
// //
// Y_i, invD_i // Y_i, invD_i
btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0; btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
@@ -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)
{ {