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Address issues with the genral-case for multibody joints

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Sébastien Crozet
2022-01-08 21:09:11 +01:00
parent 9726738cd2
commit 87ec0ced40
7 changed files with 261 additions and 587 deletions
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4
src/dynamics/solver/island_solver.rs
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@@ -132,8 +132,8 @@ impl IslandSolver {
if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic {
let accels = &multibody.accelerations;
multibody.velocities.axpy(params.dt, accels, 1.0);
multibody.integrate_next(params.dt);
multibody.forward_kinematics_next(bodies, false);
multibody.integrate(params.dt);
multibody.forward_kinematics(bodies, false);
}
} else {
// Since we didn't run the velocity solver we need to integrate the accelerations here