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| author | Erwin Coumans <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com> | 2018-11-05 10:50:03 -0800 |
|---|---|---|
| committer | Erwin Coumans <erwincoumans@erwincoumans-macbookpro2.roam.corp.google.com> | 2018-11-05 10:50:03 -0800 |
| commit | 882252f8c0ddbdb8beb55c25971497c7942b33b3 (patch) | |
| tree | 5a670718742f967e7fa8c87c25d6a689f409d22a /Extras | |
| parent | ac18c95ea1df312c9af7538bf290b712c5e17ebf (diff) | |
| download | bullet3-882252f8c0ddbdb8beb55c25971497c7942b33b3.tar.gz | |
move global from btMultiBody into dynamicsWorld.getSolverInfo
Diffstat (limited to 'Extras')
| -rw-r--r-- | Extras/InverseDynamics/invdyn_bullet_comparison.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/Extras/InverseDynamics/invdyn_bullet_comparison.cpp b/Extras/InverseDynamics/invdyn_bullet_comparison.cpp index ffa2a8e07..02adce603 100644 --- a/Extras/InverseDynamics/invdyn_bullet_comparison.cpp +++ b/Extras/InverseDynamics/invdyn_bullet_comparison.cpp @@ -176,7 +176,7 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g btAlignedObjectArray<btQuaternion> world_to_local; btAlignedObjectArray<btVector3> local_origin; btmb->forwardKinematics(world_to_local, local_origin); - btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass); + btmb->computeAccelerationsArticulatedBodyAlgorithmMultiDof(dt, scratch_r, scratch_v, scratch_m, isConstraintPass, false, false); // read generalized accelerations back from btMultiBody // the mapping from scratch variables to accelerations is taken from the implementation |