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Quaternion to Euler correction

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ctingley 2024-02-27 07:17:48 -08:00
parent 6bb8d1123d
commit 2c7918423d
1 changed files with 2 additions and 1 deletions
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examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -12360,9 +12360,10 @@ bool PhysicsServerCommandProcessor::processInverseDynamicsCommand(const struct S
q[4] = pos[1];
q[5] = pos[2];
}
int quatToEulerCorrection = baseDofQ ? -1 : 0; // The conversion to Euler angles drops the DOF by one
for (int i = 0; i < num_dofs; i++)
{
q[i + baseDofQ] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i + baseDofQ];
q[i + baseDofQ + quatToEulerCorrection] = clientCmd.m_calculateInverseDynamicsArguments.m_jointPositionsQ[i + baseDofQ];
}
for (int i = 0; i < num_dofs + baseDofQdot; i++)
{