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fix previous commit related to dofcount in inverse dynamics

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This commit is contained in:
erwincoumans
2018-11-27 19:38:19 -08:00
parent 49c8e738a4
commit dc642c6e65
1 changed files with 4 additions and 3 deletions
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7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8501,11 +8501,12 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S
int baseDofQ = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 7;
int baseDofQdot = bodyHandle->m_multiBody->hasFixedBase() ? 0 : 6;
const int num_dofs = bodyHandle->m_multiBody->getNumDofs();
if (tree && clientCmd.m_calculateInverseDynamicsArguments.m_dofCountQ == baseDofQ &&
clientCmd.m_calculateInverseDynamicsArguments.m_dofCountQdot == baseDofQdot)
if (tree && clientCmd.m_calculateInverseDynamicsArguments.m_dofCountQ == (baseDofQ+ num_dofs) &&
clientCmd.m_calculateInverseDynamicsArguments.m_dofCountQdot == (baseDofQdot+ num_dofs))
{
const int num_dofs = bodyHandle->m_multiBody->getNumDofs();
btInverseDynamics::vecx nu(num_dofs + baseDofQdot), qdot(num_dofs + baseDofQdot), q(num_dofs + baseDofQdot), joint_force(num_dofs + baseDofQdot);
//for floating base, inverse dynamics expects euler angle x,y,z and position x,y,z in that order