Fix - Needs more tests
@@ -345,7 +345,7 @@ void MBTB_BodyBuild(unsigned int numDS, const std::string& BodyName, double mas
sDS[numDS].reset(p);
- sAllDS.insert(sDS[numDS]);
+ //sAllDS.insert(sDS[numDS]);
// std::cout << "MBTB_BodyBuild()" <<std::endl;
// sDS[numDS]->display();
// myModel->nonSmoothDynamicalSystem()->insertDynamicalSystem(sDS[numDS]);
@@ -397,20 +397,20 @@ void MBTB_JointBuild(unsigned int numJ,const std::string& JointName,
{
sJointRelations[numJ]->_jointR.reset(new PivotJointR(sDS[ indexDS1],sDS[indexDS2],P,A));
sJointRelations[numJ]->_ds1 = sDS[indexDS1];
- sAllDSByInter[numJ].insert(sDS[indexDS1]);
- sAllDSByInter[numJ].insert(sDS[indexDS2]);
+ //sAllDSByInter[numJ].insert(sDS[indexDS1]);
+ //sAllDSByInter[numJ].insert(sDS[indexDS2]);
}
else if(jointType == PIVOT_0)
{
sJointRelations[numJ]->_jointR.reset(new PivotJointR(sDS[indexDS1],P,A,false));
sJointRelations[numJ]->_ds1 = sDS[indexDS1];
- sAllDSByInter[numJ].insert(sDS[indexDS1]);
+ // sAllDSByInter[numJ].insert(sDS[indexDS1]);
}
else if(jointType == PRISMATIC_0)
{
sJointRelations[numJ]->_jointR.reset(new PrismaticJointR(sDS[indexDS1],A));
sJointRelations[numJ]->_ds1 = sDS[indexDS1];
- sAllDSByInter[numJ].insert(sDS[indexDS1]);
+ // sAllDSByInter[numJ].insert(sDS[indexDS1]);
}
lNbEq = sJointRelations[numJ]->_jointR->numberOfConstraints();
