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fix scope override in btMultiBody and scalar type inconsistency in btDeformableBodySolver

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This commit is contained in:
Xuchen Han
2019-08-22 10:12:14 -07:00
parent 3fbd7a7edd
commit ccd8c3a47c
3 changed files with 7 additions and 11 deletions
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8
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -1707,9 +1707,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt)
{
//reset to current pos
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
{
pJointPos[i] = m_links[i].m_jointPos[i];
pJointPos[j] = m_links[i].m_jointPos[j];
}
btVector3 jointVel;
@@ -1725,9 +1725,9 @@ void btMultiBody::predictPositionsMultiDof(btScalar dt)
}
case btMultibodyLink::ePlanar:
{
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
{
pJointPos[i] = m_links[i].m_jointPos[i];
pJointPos[j] = m_links[i].m_jointPos[j];
}
pJointPos[0] += dt * getJointVelMultiDof(i)[0];