diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp index 5c816c4987..4372489fa1 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp @@ -21,7 +21,7 @@ subject to the following restrictions: #include "BulletCollision/CollisionDispatch/btCollisionObject.h" btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, btScalar desiredVelocity, btScalar maxMotorImpulse) - : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true), + : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true, MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR), m_desiredVelocity(desiredVelocity), m_desiredPosition(0), m_kd(1.), @@ -43,7 +43,6 @@ void btMultiBodyJointMotor::finalizeMultiDof() unsigned int offset = 6 + (m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF); // row 0: the lower bound - // row 0: the lower bound jacobianA(0)[offset] = 1; m_numDofsFinalized = m_jacSizeBoth; @@ -51,7 +50,7 @@ void btMultiBodyJointMotor::finalizeMultiDof() btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int linkDoF, btScalar desiredVelocity, btScalar maxMotorImpulse) //:btMultiBodyConstraint(body,0,link,-1,1,true), - : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true), + : btMultiBodyConstraint(body, body, link, body->getLink(link).m_parent, 1, true, MULTIBODY_CONSTRAINT_1DOF_JOINT_MOTOR), m_desiredVelocity(desiredVelocity), m_desiredPosition(0), m_kd(1.), |