diff options
| author | Sébastien Crozet <developer@crozet.re> | 2023-12-10 12:26:09 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-12-10 12:26:09 +0100 |
| commit | 8c969d4002480dc22d008474cd187b072589040c (patch) | |
| tree | 853fe847909edbd165d28abb1d97a8b9b2ad8f48 /src | |
| parent | 6246bb3ff642130f547617e9b887e576da69e7b0 (diff) | |
| parent | e4bf6914c788f02f47fd6a5f6d581df92f9c6b43 (diff) | |
| download | rapier-8c969d4002480dc22d008474cd187b072589040c.tar.gz rapier-8c969d4002480dc22d008474cd187b072589040c.tar.bz2 rapier-8c969d4002480dc22d008474cd187b072589040c.zip | |
Merge pull request #560 from kvark/wheel-joint
Fix check for motor constraints on angular DoF
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs index 8c83f58..de5bbe6 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs @@ -89,7 +89,7 @@ impl JointGenericVelocityConstraint { let start = len; 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( params, jacobians, @@ -385,7 +385,7 @@ impl JointGenericVelocityGroundConstraint { let start = len; 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( params, jacobians, |