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multidof4 patch

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This commit is contained in:
kubas
2014-01-09 00:26:24 +01:00
parent 75b8f7230d
commit 96ff69276f
12 changed files with 2661 additions and 428 deletions
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8
src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
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@@ -22,6 +22,7 @@ subject to the following restrictions:
btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse)
//:btMultiBodyConstraint(body,0,link,-1,1,true),
:btMultiBodyConstraint(body,body,link,link,1,true),
m_desiredVelocity(desiredVelocity)
{
@@ -32,8 +33,11 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScal
// note: we rely on the fact that data.m_jacobians are
// always initialized to zero by the Constraint ctor
// row 0: the lower bound
jacobianA(0)[6 + link] = 1;
unsigned int offset = 6 + (body->isMultiDof() ? body->getLink(link).m_dofOffset : link);
// row 0: the lower bound
// row 0: the lower bound
jacobianA(0)[offset] = 1;
}
btMultiBodyJointMotor::~btMultiBodyJointMotor()
{