added quat to fknm
@@ -439,18 +439,22 @@ class ELink(BaseELink):
shape_base = []
shape_wT = []
shape_sT = []
+ shape_sq = []
for shap in self.geometry:
shape_base.append(shap._base)
shape_wT.append(shap._wT)
shape_sT.append(shap._sT)
+ shape_sq.append(shap._sq)
for shap in self.collision:
shape_base.append(shap._base)
shape_wT.append(shap._wT)
shape_sT.append(shap._sT)
+ shape_sq.append(shap._sq)
- return isflip, axis, jindex, parent, shape_base, shape_wT, shape_sT
+ return isflip, axis, jindex, parent, shape_base, shape_wT, \
+ shape_sT, shape_sq
def _init_fknm(self):
if isinstance(self.parent, str):
@@ -458,12 +462,12 @@ class ELink(BaseELink):
return
isflip, axis, jindex, parent, \
- shape_base, shape_wT, shape_sT = self._get_fknm()
+ shape_base, shape_wT, shape_sT, shape_sq = self._get_fknm()
self._fknm = fknm.link_init(
self.isjoint, isflip, axis, jindex, len(shape_base),
self._Ts, self._fk,
- shape_base, shape_wT, shape_sT,
+ shape_base, shape_wT, shape_sT, shape_sq,
parent)
def _update_fknm(self):
@@ -477,13 +481,13 @@ class ELink(BaseELink):
return
isflip, axis, jindex, parent, \
- shape_base, shape_wT, shape_sT = self._get_fknm()
+ shape_base, shape_wT, shape_sT, shape_sq = self._get_fknm()
fknm.link_update(
self._fknm,
self.isjoint, isflip, axis, jindex, len(shape_base),
self._Ts, self._fk,
- shape_base, shape_wT, shape_sT,
+ shape_base, shape_wT, shape_sT, shape_sq,
parent)
def _init_Ts(self):
