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fix some formatting.

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This commit is contained in:
Jeffrey Bingham
2017-09-27 22:30:32 -07:00
parent d8b80bce40
commit d49fade704
1 changed files with 1 additions and 1 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -6671,7 +6671,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
btInverseDynamics::mat33 world_rotation_body; btInverseDynamics::mat33 world_rotation_body;
tree->getBodyTransform(clientCmd.m_calculateJacobianArguments.m_linkIndex + 1, &world_rotation_body); tree->getBodyTransform(clientCmd.m_calculateJacobianArguments.m_linkIndex + 1, &world_rotation_body);
localPosition = world_rotation_body * localPosition; localPosition = world_rotation_body * localPosition;
// Correct the translational jacobian. // Correct the translational jacobian.
btInverseDynamics::mat33 skewCrossProduct; btInverseDynamics::mat33 skewCrossProduct;
btInverseDynamics::skew(localPosition, &skewCrossProduct); btInverseDynamics::skew(localPosition, &skewCrossProduct);
btInverseDynamics::mat3x jac_l(3, numDofs + baseDofs); btInverseDynamics::mat3x jac_l(3, numDofs + baseDofs);