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a bit of rk4 clean-up

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kubas
2014-01-09 00:59:48 +01:00
parent 4eac9a11f3
commit c5594a5826
3 changed files with 23 additions and 6 deletions
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4
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -306,8 +306,8 @@ void btMultiBody::finalizeMultiDof()
{
btAssert(m_isMultiDof);
m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
m_realBuf.resize(6 + m_dofCount + m_dofCount*m_dofCount + m_posVarCnt); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
updateLinksDofOffsets();
}