356 |
|
cantPos.push_back(COM[whichDirection]); |
357 |
|
} |
358 |
|
|
359 |
+ |
if(usingSMD) |
360 |
+ |
prevCantPos = cantPos; |
361 |
|
#endif |
362 |
|
|
363 |
|
|
472 |
|
if(usingSMD) |
473 |
|
cantPos.push_back(COM[whichDirection]); |
474 |
|
} |
475 |
+ |
|
476 |
+ |
if(usingSMD) |
477 |
+ |
prevCantPos = cantPos; |
478 |
+ |
|
479 |
|
// |
480 |
|
forcePolicy->update(); |
481 |
|
} |
980 |
|
if (diff <= zconsTol && states[i] == zcsMoving){ |
981 |
|
states[i] = zcsFixed; |
982 |
|
changed_local = 1; |
983 |
+ |
|
984 |
+ |
if(usingSMD) |
985 |
+ |
prevCantPos = cantPos; |
986 |
|
|
987 |
|
if (hasZConsGap) |
988 |
|
endFixTime[i] = info->getTime() + zconsFixTime; |
991 |
|
states[i] = zcsMoving; |
992 |
|
changed_local = 1; |
993 |
|
|
994 |
+ |
if(usingSMD) |
995 |
+ |
cantPos = prevCantPos; |
996 |
+ |
|
997 |
|
if (hasZConsGap) |
998 |
|
endFixTime[i] = INFINITE_TIME; |
999 |
|
} |