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few fixes in inverse dynamics

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This commit is contained in:
erwincoumans
2018-12-19 20:15:30 -08:00
parent 78de1f070f
commit 8e8c3fb315
5 changed files with 35 additions and 3 deletions
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2
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -9756,7 +9756,7 @@ bool PhysicsServerCommandProcessor::processCalculateInverseKinematicsCommand(con
numDofs, clientCmd.m_calculateInverseKinematicsArguments.m_endEffectorLinkIndex,
&q_new[0], ikMethod, &jacobian_linear[0], &jacobian_angular[0], jacSize * 2, targetDampCoeff);
}
serverCmd.m_inverseKinematicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
serverCmd.m_inverseKinematicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseKinematicsArguments.m_bodyUniqueId;
for (int i = 0; i < numDofs; i++)
{
serverCmd.m_inverseKinematicsResultArgs.m_jointPositions[i] = q_new[i];