Fix sign error in y and z results of Kin.three_torques_to_force()

cfry · May 26, 2020 · d2c34a5 · d2c34a5
1 parent aa4839b
commit d2c34a5
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/math/Kin.js b/math/Kin.js
@@ -2,7 +2,7 @@
 //Inverse Kinematics + Forward Kinematics + supporting functions
 //James Wigglesworth
 //Started: 6_18_16
-//Updated: 1_29_19
+//Updated: 5_25_20
 
 
 /*
@@ -863,6 +863,8 @@ class Kin{
         	ForceXYZ = Vector.project_point_onto_line(F[0], lineYZa, lineYZb)
         }
 
+        ForceXYZ[1] *= -1
+        ForceXYZ[2] *= -1
         return ForceXYZ
     }
     /*
@@ -1853,4 +1855,3 @@ Kin.J_angles_to_xyz(Kin.xyz_to_J_angles([0.1, .5, .3]))
 
 */
 
-