update ExampleBrowser InverseKinematics example to track 4 end effectors at once.

2019-06-01 19:43:27 -07:00
parent 36896db828
commit d7c0c9c017
2 changed files with 142 additions and 52 deletions
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
@@ -472,8 +472,8 @@ void Jacobian::CalcDeltaThetasSDLS()
 	// Calculate response vector dTheta that is the SDLS solution.
 	//	Delta target values are the dS values
 	int nRows = J.GetNumRows();
-	// TODO: Modify it to work with multiple end effectors.
-	int numEndEffectors = 1;
+	
+	int numEndEffectors = m_tree->GetNumEffector();
 	int nCols = J.GetNumColumns();
 	dTheta.SetZero();