fix stage "FixCollisionObjects"

... correction wasn't initialized to zero, resulting in random NaNs
This commit is contained in:
Robert Haschke 2018-10-20 22:59:27 +02:00
parent a0a9738a00
commit 1e39da2388

View File

@ -74,6 +74,7 @@ void FixCollisionObjects::computeBackward(const InterfaceState &to)
bool computeCorrection(const std::vector<cd::Contact>& contacts, Eigen::Vector3d& correction, double max_penetration)
{
correction.setZero();
for (const cd::Contact& c : contacts) {
if ((c.body_type_1 != cd::BodyTypes::WORLD_OBJECT &&
c.body_type_2 != cd::BodyTypes::WORLD_OBJECT)) {