diff options
Diffstat (limited to 'src/BulletDynamics/Featherstone/btMultiBody.cpp')
| -rw-r--r-- | src/BulletDynamics/Featherstone/btMultiBody.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp index 44a7ecaf9..8df15b58c 100644 --- a/src/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp @@ -344,6 +344,7 @@ void btMultiBody::finalizeMultiDof() m_deltaV.resize(6 + m_dofCount);
m_realBuf.resize(6 + m_dofCount + m_dofCount * m_dofCount + 6 + m_dofCount); //m_dofCount for joint-space vels + m_dofCount^2 for "D" matrices + delta-pos vector (6 base "vels" + joint "vels")
m_vectorBuf.resize(2 * m_dofCount); //two 3-vectors (i.e. one six-vector) for each system dof ("h" matrices)
+ m_matrixBuf.resize(m_links.size() + 1);
for (int i = 0; i < m_vectorBuf.size(); i++)
{
m_vectorBuf[i].setValue(0, 0, 0);
|