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Fix small bug in BoxedLcpConstraintSolver #1459

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May 10, 2020
Merged

Fix small bug in BoxedLcpConstraintSolver #1459

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8c2f678
Fix small bug in BoxedLcpConstraintSolver
costashatz May 8, 2020
0ecb919
Update changelog
May 10, 2020
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Expand Up @@ -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

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2 changes: 1 addition & 1 deletion dart/constraint/BoxedLcpConstraintSolver.cpp
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Expand Up @@ -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)
{
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