Merge pull request #560 from kvark/wheel-joint

Fix check for motor constraints on angular DoF
dimforge · Dec 10, 2023 · 8c969d4 · 8c969d4
2 parents 6246bb3 + e4bf691
commit 8c969d4
Showing 1 changed file with 2 additions and 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
@@ -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,