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Merge branch 'master' of https://github.com/erwincoumans/bullet3

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Conflicts:
	examples/SharedMemory/PhysicsServerCommandProcessor.cpp
This commit is contained in:
erwincoumans
2016-09-01 13:32:07 -07:00
parent 85fd7f560c c7ad8f2a3d
commit fe46ee8adf
1 changed files with 24 additions and 23 deletions
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7
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -901,7 +901,6 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
btMultiBody* mb = creation.getBulletMultiBody();
btRigidBody* rb = creation.getRigidBody();
if (useMultiBody)
{
@@ -2297,8 +2296,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
qdot[i + baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointVelocitiesQdot[i];
nu[i+baseDofs] = clientCmd.m_calculateInverseDynamicsArguments.m_jointAccelerations[i];
}
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force))
// Set the gravity to correspond to the world gravity
btInverseDynamics::vec3 id_grav(m_data->m_dynamicsWorld->getGravity());
if (-1 != tree->calculateInverseDynamics(q, qdot, nu, &joint_force) &&
-1 != tree->setGravityInWorldFrame(id_grav))
{
serverCmd.m_inverseDynamicsResultArgs.m_bodyUniqueId = clientCmd.m_calculateInverseDynamicsArguments.m_bodyUniqueId;
serverCmd.m_inverseDynamicsResultArgs.m_dofCount = num_dofs;