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fix fixed constraint between btMultiBody and btRigidBody

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This commit is contained in:
erwincoumans
2018-05-29 16:49:07 -07:00
parent dcc9c4d0d9
commit ec4b3505a4
2 changed files with 9 additions and 22 deletions
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21
src/BulletDynamics/Featherstone/btMultiBodyConstraintSolver.cpp
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@@ -246,7 +246,7 @@ btScalar btMultiBodyConstraintSolver::resolveSingleConstraintRowGeneric(const bt
{
c.m_appliedImpulse = sum;
}
if (c.m_multiBodyA)
{
applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex], deltaImpulse, c.m_deltaVelAindex, ndofA);
@@ -1487,27 +1487,12 @@ void btMultiBodyConstraintSolver::writeBackSolverBodyToMultiBody(btMultiBodySolv
if (c.m_multiBodyA)
{
if(c.m_multiBodyA->isMultiDof())
{
c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
else
{
c.m_multiBodyA->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
c.m_multiBodyA->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacAindex],c.m_appliedImpulse);
}
if (c.m_multiBodyB)
{
if(c.m_multiBodyB->isMultiDof())
{
c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
else
{
c.m_multiBodyB->applyDeltaVee(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
c.m_multiBodyB->applyDeltaVeeMultiDof(&m_data.m_deltaVelocitiesUnitImpulse[c.m_jacBindex],c.m_appliedImpulse);
}
#endif