AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 13:20:07 +00:00
Code Issues Releases Wiki Activity

Fix import of spherical joint state

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
View File

@ -155,7 +155,7 @@ template<class T> void syncMultiBody(T* mbd, btMultiBody* mb, btMultiBodyWorldI
}
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] };
mb->setJointPosMultiDof(i, jointPos);
mb->setJointVelMultiDof(i, jointVel);
@ -244,7 +244,7 @@ template<class T> void convertMultiBody(T* mbd, btMultiBodyWorldImporterInterna
bool disableParentCollision = true;//todo
mb->setupSpherical(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
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] };
mb->setJointPosMultiDof(i, jointPos);
mb->setJointVelMultiDof(i, jointVel);