fix the bug that prevents the pd control forces/torques being added

2019-11-08 16:54:02 -08:00
parent e66982d658
commit 362bc6d9a3
5 changed files with 127 additions and 8 deletions
--- a/src/BulletDynamics/Dynamics/btRigidBody.cpp
+++ b/src/BulletDynamics/Dynamics/btRigidBody.cpp
@@ -206,6 +206,14 @@ void btRigidBody::applyGravity()
 	applyCentralForce(m_gravity);
 }

+void btRigidBody::clearGravity()
+{
+    if (isStaticOrKinematicObject())
+        return;
+    
+    applyCentralForce(-m_gravity);
+}
+
 void btRigidBody::proceedToTransform(const btTransform& newTrans)
 {
 	setCenterOfMassTransform(newTrans);