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fix a bug related to joint reaction forces (clearMultiBodyConstraintForces was clearing forces after they were computed in some cases)

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erwincoumans
2017-11-09 10:46:13 -08:00
parent bfc40e9ef2
commit d6b3f735b6
3 changed files with 8 additions and 1 deletions
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2
src/BulletDynamics/Featherstone/btMultiBodyLink.h
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@@ -182,6 +182,8 @@ btVector3 m_appliedConstraintForce; // In WORLD frame
m_cachedRVector.setValue(0, 0, 0);
m_appliedForce.setValue( 0, 0, 0);
m_appliedTorque.setValue(0, 0, 0);
m_appliedConstraintForce.setValue(0,0,0);
m_appliedConstraintTorque.setValue(0,0,0);
//
m_jointPos[0] = m_jointPos[1] = m_jointPos[2] = m_jointPos[4] = m_jointPos[5] = m_jointPos[6] = 0.f;
m_jointPos[3] = 1.f; //"quat.w"