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author | Benoit Bolsee <benoit.bolsee@online.be> | 2012-06-05 02:29:17 +0400 |
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committer | Benoit Bolsee <benoit.bolsee@online.be> | 2012-06-05 02:29:17 +0400 |
commit | 8db6e682e9c0d55a34c64a490cbf29ff301c4973 (patch) | |
tree | 306b1eb927d6768f88a149167c62d9724f8f6814 /intern/itasc/Armature.hpp | |
parent | 0d3b19e7340e0f3fa075e90e695ddf760529b925 (diff) |
Fix [#31544]: iTaSC assertion when creating armature with no joint. This degenerated case can be obtained by having a single bone in the IK chain and locking all 3 axis. This case was causing an assert in the KDL library. The bug is fixed by simply not creating the IK scene in this case.
Diffstat (limited to 'intern/itasc/Armature.hpp')
-rw-r--r-- | intern/itasc/Armature.hpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/intern/itasc/Armature.hpp b/intern/itasc/Armature.hpp index 0f4abeab4f0..63d1899f4e9 100644 --- a/intern/itasc/Armature.hpp +++ b/intern/itasc/Armature.hpp @@ -31,7 +31,7 @@ public: bool getSegment(const std::string& segment_name, const unsigned int q_size, const Joint* &p_joint, double &q_rest, double &q, const Frame* &p_tip); bool getRelativeFrame(Frame& result, const std::string& segment_name, const std::string& base_name=m_root); - virtual void finalize(); + virtual bool finalize(); virtual int addEndEffector(const std::string& name); virtual const Frame& getPose(const unsigned int end_effector); |