void btMultiBodyGearConstraint::finalizeMultiDof()
{
allocateJacobiansMultiDof();
m_numDofsFinalized = m_jacSizeBoth;
}
void btMultiBodyJointMotor::finalizeMultiDof()
{
allocateJacobiansMultiDof();
// note: we rely on the fact that data.m_jacobians are
// always initialized to zero by the Constraint ctor
int linkDoF = 0;
unsigned int offset = 6 + (m_bodyA->isMultiDof() ? m_bodyA->getLink(m_linkA).m_dofOffset + linkDoF : m_linkA);
// row 0: the lower bound
// row 0: the lower bound
jacobianA(0)[offset] = 1;
m_numDofsFinalized = m_jacSizeBoth;
}
void btMultiBodyJointLimitConstraint::finalizeMultiDof()
{
// the data.m_jacobians never change, so may as well
// initialize them here
allocateJacobiansMultiDof();
unsigned int offset = 6 + m_bodyA->getLink(m_linkA).m_dofOffset;
// row 0: the lower bound
jacobianA(0)[offset] = 1;
// row 1: the upper bound
//jacobianA(1)[offset] = -1;
jacobianB(1)[offset] = -1;
m_numDofsFinalized = m_jacSizeBoth;
}
