Fix Featherstone btMultiBodyPoint2Point constraint and picking: don't assume body 0 is the fixed body!

2013-10-22 21:06:47 +00:00
parent 75260cd0d7
commit f22ceecb82
3 changed files with 11 additions and 1 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -34,6 +34,7 @@ struct btMultiBodyJacobianData
 	btAlignedObjectArray<btVector3>		scratch_v;
 	btAlignedObjectArray<btMatrix3x3>	scratch_m;
 	btAlignedObjectArray<btSolverBody>*	m_solverBodyPool;
+	int									m_fixedBodyId;

 };