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bug fix in multibody interpolation world transform: update cached rotation and vector

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This commit is contained in:
Xuchen Han
2019-08-24 11:51:33 -07:00
parent f2d8ed71ac
commit bb4a554e68
1 changed files with 3 additions and 1 deletions
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4
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -197,7 +197,7 @@ struct btMultibodyLink
{ {
btScalar *pJointPos = (pq ? pq : &m_jointPos[0]); btScalar *pJointPos = (pq ? pq : &m_jointPos[0]);
btQuaternion& cachedRot = m_cachedRotParentToThis; btQuaternion& cachedRot = m_cachedRotParentToThis;
btVector3& cachedVector =m_cachedRVector; btVector3& cachedVector = m_cachedRVector;
switch (m_jointType) switch (m_jointType)
{ {
case eRevolute: case eRevolute:
@@ -241,6 +241,8 @@ struct btMultibodyLink
btAssert(0); btAssert(0);
} }
} }
m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis;
m_cachedRVector_interpolate = m_cachedRVector;
} }
void updateInterpolationCacheMultiDof() void updateInterpolationCacheMultiDof()