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| author | erwincoumans <erwin.coumans@gmail.com> | 2019-01-23 10:16:06 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2019-01-23 10:16:06 -0800 |
| commit | f90fe7ceac3d51860d2b634057f86cda227bbb0b (patch) | |
| tree | 225b144ac991732824729b6fb6c6c09a96957a95 /Extras | |
| parent | 02c01c0191a8d893faf162f19316858143e739a2 (diff) | |
| parent | 225db2e385c1ebf19ac4ff105be05f3b2164116e (diff) | |
| download | bullet3-f90fe7ceac3d51860d2b634057f86cda227bbb0b.tar.gz | |
Merge pull request #2047 from erwincoumans/master
Add humanoid stable PD control, preliminary optional PhysX 4.0 backend for Pybullet, various fixes
Diffstat (limited to 'Extras')
| -rw-r--r-- | Extras/InverseDynamics/btMultiBodyTreeCreator.cpp | 5 |
1 files changed, 2 insertions, 3 deletions
diff --git a/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp b/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp index 02dcf3819..a6c2f4dc3 100644 --- a/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp +++ b/Extras/InverseDynamics/btMultiBodyTreeCreator.cpp @@ -202,15 +202,14 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2]; break; case btMultibodyLink::eSpherical: - link.joint_type = SPHERICAL; link.parent_r_parent_body_ref(0) = bt_link.m_eVector[0]; link.parent_r_parent_body_ref(1) = bt_link.m_eVector[1]; link.parent_r_parent_body_ref(2) = bt_link.m_eVector[2]; // random unit vector link.body_axis_of_motion(0) = 0; - link.body_axis_of_motion(1) = 0; - link.body_axis_of_motion(2) = 1; + link.body_axis_of_motion(1) = 1; + link.body_axis_of_motion(2) = 0; break; case btMultibodyLink::ePlanar: bt_id_error_message("planar joints not implemented\n"); |