Update theta dot for velocity IK.

2016-09-20 10:24:48 -07:00
parent bf16c87987
commit cbda64c5e7
4 changed files with 32 additions and 1 deletions
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.h
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h
@@ -72,6 +72,7 @@ public:
    void CalcThetasDotDLS(float dt);

 	void UpdateThetas();
+    void UpdateThetaDot();
 	double UpdateErrorArray(VectorR3* targets);		// Returns sum of errors
 	const VectorRn& GetErrorArray() const { return errorArray; }
 	void UpdatedSClampValue(VectorR3* targets);