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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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erwincoumans
2018-05-16 12:11:29 -07:00
parent 0ca2c5f925 28b86ba0a4
commit b432daed65
3 changed files with 40 additions and 7 deletions
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16
src/BulletInverseDynamics/MultiBodyTree.cpp
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@@ -331,6 +331,22 @@ int MultiBodyTree::finalize() {
rigid_body.m_parent_pos_parent_body_ref = joint.m_parent_pos_parent_child_ref;
rigid_body.m_joint_type = joint.m_type;
int user_int;
if (-1 == m_init_cache->getUserInt(index, &user_int)) {
return -1;
}
if (-1 == m_impl->setUserInt(index, user_int)) {
return -1;
}
void* user_ptr;
if (-1 == m_init_cache->getUserPtr(index, &user_ptr)) {
return -1;
}
if (-1 == m_impl->setUserPtr(index, user_ptr)) {
return -1;
}
// Set joint Jacobians. Note that the dimension is always 3x1 here to avoid variable sized
// matrices.
switch (rigid_body.m_joint_type) {