From 8c2f67892f132e4e28491ff00832e26f33ccb9d5 Mon Sep 17 00:00:00 2001 From: Konstantinos Chatzilygeroudis Date: Fri, 8 May 2020 13:56:19 +0300 Subject: [PATCH 1/2] Fix small bug in BoxedLcpConstraintSolver --- dart/constraint/BoxedLcpConstraintSolver.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/dart/constraint/BoxedLcpConstraintSolver.cpp b/dart/constraint/BoxedLcpConstraintSolver.cpp index 50f434818e331..54662d9e7bf97 100644 --- a/dart/constraint/BoxedLcpConstraintSolver.cpp +++ b/dart/constraint/BoxedLcpConstraintSolver.cpp @@ -169,7 +169,7 @@ void BoxedLcpConstraintSolver::solveConstrainedGroup(ConstrainedGroup& group) mFIndex.setConstant(n, -1); // set findex to -1 // Compute offset indices - mOffset.resize(n); + mOffset.resize(numConstraints); mOffset[0] = 0; for (std::size_t i = 1; i < numConstraints; ++i) { From 0ecb919ab0919490a8823abb1256e326ac60e8b3 Mon Sep 17 00:00:00 2001 From: Jeongseok Lee Date: Sat, 9 May 2020 19:45:50 -0700 Subject: [PATCH 2/2] Update changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index f8c2e3711a36f..276f09ffda574 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -24,6 +24,7 @@ * Allowed to set joint rest position out of joint limits: [#1418](https://github.com/dartsim/dart/pull/1418) * Added secondary friction coefficient parameter: [#1424](https://github.com/dartsim/dart/pull/1424) * Allowed to set friction direction per ShapeFrame: [#1427](https://github.com/dartsim/dart/pull/1427) + * Fixed incorrect vector resizing in BoxedLcpConstraintSolver: [#1459](https://github.com/dartsim/dart/pull/1459) * GUI