Issue WPI-AIM#196

The child body scale was not considered for the joint pivot calculation
LauraConnolly · Feb 26, 2023 · 18637b4 · 18637b4
1 parent f7fbc64
commit 18637b4
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ambf_framework/afFramework.cpp b/ambf_framework/afFramework.cpp
@@ -3907,7 +3907,7 @@ bool afJoint::createFromAttribs(afJointAttributes *a_attribs)
     m_pvtA = m_afParentBody->getInverseInertialOffsetTransform() * m_pvtA;
     m_axisA = m_afParentBody->getInverseInertialOffsetTransform().getBasis() * m_axisA;
 
-    m_pvtB = to_btVector(a_attribs->m_childPivot);
+    m_pvtB = to_btVector(a_attribs->m_childPivot * m_afChildBody->m_scale);
     m_axisB = to_btVector(a_attribs->m_childAxis);
     m_axisB.normalize();
     m_pvtB = m_afChildBody->getInverseInertialOffsetTransform() * m_pvtB;