diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/joint/multibody_joint/multibody_joint.rs | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/dynamics/joint/multibody_joint/multibody_joint.rs b/src/dynamics/joint/multibody_joint/multibody_joint.rs index 62fc434..11ea890 100644 --- a/src/dynamics/joint/multibody_joint/multibody_joint.rs +++ b/src/dynamics/joint/multibody_joint/multibody_joint.rs @@ -115,6 +115,9 @@ impl MultibodyJoint { let angvel = Vector3::from_row_slice(&vels[curr_free_dof..curr_free_dof + 3]); let disp = UnitQuaternion::new_eps(angvel * dt, 0.0); self.joint_rot = disp * self.joint_rot; + self.coords[3] += angvel[0] * dt; + self.coords[4] += angvel[1] * dt; + self.coords[5] += angvel[2] * dt; } _ => unreachable!(), } |