Fix a bug related to the law of action and reaction in btGeneric6DofSpring2Constraint. #4438
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…pring2Constraint. The relA and relB in calculateJacobi() are vectors used to calculate the torque that the linearAxis applies to the bodies. Therefore, relA and relB should point to the same coordinate, but they were pointing to the connection points of bodyA and bodyB respectively. This caused a bug where the positions where the action and reaction forces were applied were shifted when the relative positions of the bodies changed. To fix this, relA was corrected to point to the connection point of bodyB.
|
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The relA and relB in calculateJacobi() are vectors used to calculate the torque that the linearAxis applies to the bodies.
Therefore, relA and relB should point to the same coordinate, but they were pointing to the connection points of bodyA and bodyB respectively.
This caused a bug where the positions where the action and reaction forces were applied were shifted when the relative positions of the bodies changed.
To fix this, relA was corrected to point to the connection point of bodyB.