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Merge pull request #4462 from gazebo-forks/nkoenig/fix_joint_wrench

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Fix joint force/torque sensor values
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erwincoumans
2023-05-04 06:09:50 -07:00
committed by GitHub
parent 0e59474e1c 94e5b69379
commit e7193f8fdf
1 changed files with 2 additions and 1 deletions
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3
src/BulletDynamics/Featherstone/btMultiBody.cpp
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@@ -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