few fixes in inverse dynamics

2018-12-19 20:15:30 -08:00
parent 78de1f070f
commit 8e8c3fb315
5 changed files with 35 additions and 3 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -134,6 +134,15 @@ public:
 		return m_baseCollider;
 	}

+	const btMultiBodyLinkCollider *getLinkCollider(int index) const
+	{
+		if (index >= 0 && index < getNumLinks())
+		{
+			return getLink(index).m_collider;
+		}
+		return 0;
+	}
+
 	btMultiBodyLinkCollider *getLinkCollider(int index)
 	{
 		if (index >= 0 && index < getNumLinks())