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Merge pull request #4583 from iche033/iche033/joint_force_torque

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Fix joint force/torque feedback
This commit is contained in:
erwincoumans
2024-04-09 16:25:09 -07:00
committed by GitHub
parent 6bb8d1123d d7f9d66207
commit 5e89410409
1 changed files with 5 additions and 1 deletions
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6
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -984,7 +984,11 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
//
hDof = spatInertia[i + 1] * m_links[i].m_axes[dof];
//
Y[m_links[i].m_dofOffset + dof] = m_links[i].m_jointTorque[dof] - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i + 1]) - spatCoriolisAcc[i].dot(hDof);
btScalar jointTorque = 0;
if (isConstraintPass) jointTorque = 0;
else jointTorque = m_links[i].m_jointTorque[dof];
Y[m_links[i].m_dofOffset + dof] = jointTorque - m_links[i].m_axes[dof].dot(zeroAccSpatFrc[i + 1]) - spatCoriolisAcc[i].dot(hDof);
}
for (int dof = 0; dof < m_links[i].m_dofCount; ++dof)
{