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Fixed constraint for btMultiBody and btRigidBody.

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This commit is contained in:
yunfeibai
2016-08-15 13:19:00 -07:00
parent e982b2b5dd
commit 9c4cfde3d6
12 changed files with 708 additions and 334 deletions
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src/BulletDynamics/Featherstone/btMultiBodyJointLimitConstraint.cpp
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@@ -122,7 +122,7 @@ void btMultiBodyJointLimitConstraint::createConstraintRows(btMultiBodyConstraint
const btScalar posError = 0; //why assume it's zero?
const btVector3 dummy(0, 0, 0);
btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
btScalar rel_vel = fillMultiBodyConstraint(constraintRow,data,jacobianA(row),jacobianB(row),dummy,dummy,dummy,dummy,posError,infoGlobal,0,m_maxAppliedImpulse);
{
//expect either prismatic or revolute joint type for now