Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge pull request #546 from erwincoumans/master

Browse Source 
typo fixes in InverseDynamicsExample
This commit is contained in:
erwincoumans
2015-12-07 15:07:24 -08:00
parent 83c560262b 433a7aa9b6
commit ab283251d3
3 changed files with 3 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

BIN
data/multibody.bullet
View File

Binary file not shown.

6
examples/InverseDynamics/InverseDynamicsExample.cpp
View File

@@ -280,9 +280,9 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
for (int i=0;i<num_dofs;i++) for (int i=0;i<num_dofs;i++)
{ {
nu6[6+i] = nu[i]; nu6[6+i] = nu[i];
qdot6[6+i] = qdot6[i]; qdot6[6+i] = qdot[i];
q6[6+i] = q6[i]; q6[6+i] = q[i];
joint_force6[6+i] = joint_force6[i]; joint_force6[6+i] = joint_force[i];
} }
if(-1 != m_inverseModel->calculateInverseDynamics(q6,qdot6,nu6,&joint_force6)) if(-1 != m_inverseModel->calculateInverseDynamics(q6,qdot6,nu6,&joint_force6))
{ {

1
test/InverseDynamics/test_invdyn_bullet.cpp
View File

@@ -9,7 +9,6 @@
#include <cstdlib> #include <cstdlib>
#include <functional> #include <functional>
#include <string> #include <string>
#include <random>
#include <btBulletDynamicsCommon.h> #include <btBulletDynamicsCommon.h>
#include <btMultiBodyTreeCreator.hpp> #include <btMultiBodyTreeCreator.hpp>