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| author | erwincoumans <erwin.coumans@gmail.com> | 2023-05-04 06:09:50 -0700 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-05-04 06:09:50 -0700 |
| commit | e7193f8fdf4fa4eedce06ffb509d0a66a4ca808d (patch) | |
| tree | 4a851ac1227c3b84f1fd08be01465add2615c8fc | |
| parent | 0e59474e1cf1fd69e3ca512826cfbe15cd6a9cec (diff) | |
| parent | 94e5b69379fea38d7cc13c808573e0ddab920f40 (diff) | |
| download | bullet3-e7193f8fdf4fa4eedce06ffb509d0a66a4ca808d.tar.gz | |
Merge pull request #4462 from gazebo-forks/nkoenig/fix_joint_wrench
Fix joint force/torque sensor values
| -rw-r--r-- | src/BulletDynamics/Featherstone/btMultiBody.cpp | 3 |
1 files changed, 2 insertions, 1 deletions
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index d7588aedc..1bc2ffe22 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -936,7 +936,8 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar if (m_useGyroTerm) zeroAccSpatFrc[i + 1].addAngular(spatVel[i + 1].getAngular().cross(m_links[i].m_inertiaLocal * spatVel[i + 1].getAngular())); // - zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear())); + if (!isConstraintPass) + zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear())); // //btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear()); ////clamp parent's omega |