Fix grouping of contact constraints (#1624)

dartsim · Dec 18, 2021 · 6f9feed · 6f9feed
1 parent df90cda
commit 6f9feed
Show file tree

Hide file tree

Showing 4 changed files with 5,114 additions and 2 deletions.
diff --git a/dart/constraint/ContactConstraint.cpp b/dart/constraint/ContactConstraint.cpp
@@ -920,9 +920,9 @@ dynamics::SkeletonPtr ContactConstraint::getRootSkeleton() const
   assert(isActive());
 
   if (mBodyNodeA->isReactive())
-    return mBodyNodeA->getSkeleton()->mUnionRootSkeleton.lock();
+    return ConstraintBase::getRootSkeleton(mBodyNodeA->getSkeleton());
   else
-    return mBodyNodeB->getSkeleton()->mUnionRootSkeleton.lock();
+    return ConstraintBase::getRootSkeleton(mBodyNodeB->getSkeleton());
 }
 
 //==============================================================================