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Merge pull request #560 from kvark/wheel-joint

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Fix check for motor constraints on angular DoF
This commit is contained in:
Sébastien Crozet
2023-12-10 12:26:09 +01:00
committed by GitHub
parent 6246bb3ff6 e4bf6914c7
commit 8c969d4002
1 changed files with 2 additions and 2 deletions
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4
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs
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@@ -89,7 +89,7 @@ impl JointGenericVelocityConstraint {
let start = len; let start = len;
for i in DIM..SPATIAL_DIM { for i in DIM..SPATIAL_DIM {
if (motor_axes >> DIM) & (1 << i) != 0 { if motor_axes & (1 << i) != 0 {
out[len] = builder.motor_angular_generic( out[len] = builder.motor_angular_generic(
params, params,
jacobians, jacobians,
@@ -385,7 +385,7 @@ impl JointGenericVelocityGroundConstraint {
let start = len; let start = len;
for i in DIM..SPATIAL_DIM { for i in DIM..SPATIAL_DIM {
if (motor_axes >> DIM) & (1 << i) != 0 { if motor_axes & (1 << i) != 0 {
out[len] = builder.motor_angular_generic_ground( out[len] = builder.motor_angular_generic_ground(
params, params,
jacobians, jacobians,