Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Merge remote-tracking branch 'upstream/master' into multibody_mlcp_solver_v2

Browse Source
This commit is contained in:
Jeongseok Lee
2018-08-06 10:34:43 -07:00
parent 809fb3ed49 6fe1b000e5
commit e8e97d39fe
23 changed files with 98 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
src/BulletDynamics/Featherstone/btMultiBody.cpp
View File

@@ -781,7 +781,7 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
// hhat is NOT stored for the base (but ahat is)
btSpatialForceVector * h = (btSpatialForceVector *)(m_dofCount > 0 ? &m_vectorBuf[0] : 0);
btSpatialMotionVector * spatAcc = (btSpatialMotionVector *)v_ptr;
// v_ptr += num_links * 2 + 2; // Disabled since v_ptr is not used in the rest of the code
v_ptr += num_links * 2 + 2;
//
// Y_i, invD_i
btScalar * invD = m_dofCount > 0 ? &m_realBuf[6 + m_dofCount] : 0;
@@ -967,9 +967,11 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
//
Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof]
- m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i+1])
- spatCoriolisAcc[i].dot(hDof)
;
- spatCoriolisAcc[i].dot(hDof);
}
for(int dof = 0; dof < m_links[i].m_dofCount; ++dof)
{
btScalar *D_row = &D[dof * m_links[i].m_dofCount];
for(int dof2 = 0; dof2 < m_links[i].m_dofCount; ++dof2)
{