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Use correct link indices when constructing fixed constraints #530

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merged 4 commits into from
Oct 23, 2023
Merged

Use correct link indices when constructing fixed constraints #530

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4a4d53c
Use correct link indicies when constructing fixed constraints
mjcarroll Aug 15, 2023
8d7d7f4
Merge branch 'gz-physics6' into mjcarroll/featherstone_detachable
mjcarroll Aug 29, 2023
3c77597
Merge branch 'gz-physics6' into mjcarroll/featherstone_detachable
mjcarroll Sep 19, 2023
568f695
Merge branch 'gz-physics6' into mjcarroll/featherstone_detachable
mjcarroll Oct 20, 2023
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18 changes: 10 additions & 8 deletions bullet-featherstone/src/JointFeatures.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -303,11 +303,11 @@ Identity JointFeatures::AttachFixedJoint(
const BaseLink3dPtr &_parent,
const std::string &_name)
{
auto linkInfo = this->ReferenceInterface<LinkInfo>(_childID);
auto modelInfo = this->ReferenceInterface<ModelInfo>(linkInfo->model);
auto parentLinkInfo = this->ReferenceInterface<LinkInfo>(
auto *linkInfo = this->ReferenceInterface<LinkInfo>(_childID);
auto *modelInfo = this->ReferenceInterface<ModelInfo>(linkInfo->model);
auto *parentLinkInfo = this->ReferenceInterface<LinkInfo>(
_parent->FullIdentity());
auto parentModelInfo = this->ReferenceInterface<ModelInfo>(
auto *parentModelInfo = this->ReferenceInterface<ModelInfo>(
parentLinkInfo->model);
auto *world = this->ReferenceInterface<WorldInfo>(modelInfo->world);

Expand All @@ -322,16 +322,18 @@ Identity JointFeatures::AttachFixedJoint(
linkInfo->model
});

auto jointInfo = this->ReferenceInterface<JointInfo>(jointID);
auto parentLinkIdx = parentLinkInfo->indexInModel.value_or(-1);
auto childLinkIdx = linkInfo->indexInModel.value_or(-1);
auto *jointInfo = this->ReferenceInterface<JointInfo>(jointID);

jointInfo->fixedConstraint = std::make_shared<btMultiBodyFixedConstraint>(
parentModelInfo->body.get(), -1,
modelInfo->body.get(), -1,
parentModelInfo->body.get(), parentLinkIdx,
modelInfo->body.get(), childLinkIdx,
btVector3(0, 0, 0), btVector3(0, 0, 0),
btMatrix3x3::getIdentity(),
btMatrix3x3::getIdentity());

if (world && world->world)
if (world != nullptr && world->world)
{
world->world->addMultiBodyConstraint(jointInfo->fixedConstraint.get());
return this->GenerateIdentity(jointID, this->joints.at(jointID));
Expand Down