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Address issues with the genral-case for multibody joints

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This commit is contained in:
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/velocity_solver.rs
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@@ -145,8 +145,8 @@ impl VelocitySolver {
.rows(multibody.solver_id, multibody.ndofs());
let prev_vels = multibody.velocities.clone(); // FIXME: avoid allocations.
multibody.velocities += mj_lambdas;
multibody.integrate_next(params.dt);
multibody.forward_kinematics_next(bodies, false);
multibody.integrate(params.dt);
multibody.forward_kinematics(bodies, false);
if params.max_stabilization_iterations > 0 {
multibody.velocities = prev_vels;