[ODE] Bug in dJointAddAMotorTorques

Peng Zhao pzhao at cs.ubc.ca
Sat Dec 13 16:59:30 MST 2003


...
if (joint->num >= 2) {
  axes[0][0] += axes[1][0] * torque2;
  axes[0][1] += axes[1][0] * torque2;
                        ^ Should be 1
  axes[0][2] += axes[1][0] * torque2;
                        ^ Should be 2
  if (joint->num >= 3) {
    axes[0][0] += axes[2][0] * torque3;
    axes[0][1] += axes[2][0] * torque3;
                          ^ Should be 1
    axes[0][2] += axes[2][0] * torque3;
                          ^ Should be 2
  }
}
...

Peng


More information about the ODE mailing list