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Fix import of spherical joint state

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Spherical joints in btMultiBody have 4 positional variables.
This commit is contained in:
Alexey Anikeenko
2018-03-05 00:17:48 +07:00
parent 94bc897067
commit feaa21e33c
1 changed files with 2 additions and 2 deletions
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4
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
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@@ -155,7 +155,7 @@ template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldI
} }
case btMultibodyLink::eSpherical: case btMultibodyLink::eSpherical:
{ {
btScalar jointPos[3] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2] }; btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] }; btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
mb->setJointPosMultiDof(i, jointPos); mb->setJointPosMultiDof(i, jointPos);
mb->setJointVelMultiDof(i, jointVel); mb->setJointVelMultiDof(i, jointVel);
@@ -244,7 +244,7 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
bool disableParentCollision = true;//todo bool disableParentCollision = true;//todo
mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex, mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision); parentRotToThis, parentComToThisPivotOffset, thisPivotToThisComOffset, disableParentCollision);
btScalar jointPos[3] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2] }; btScalar jointPos[4] = { (btScalar)mbd->m_links[i].m_jointPos[0], (btScalar)mbd->m_links[i].m_jointPos[1], (btScalar)mbd->m_links[i].m_jointPos[2], (btScalar)mbd->m_links[i].m_jointPos[3] };
btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] }; btScalar jointVel[3] = { (btScalar)mbd->m_links[i].m_jointVel[0], (btScalar)mbd->m_links[i].m_jointVel[1], (btScalar)mbd->m_links[i].m_jointVel[2] };
mb->setJointPosMultiDof(i, jointPos); mb->setJointPosMultiDof(i, jointPos);
mb->setJointVelMultiDof(i, jointVel); mb->setJointVelMultiDof(i, jointVel);