only call buildIslands once for multibody in each timestep

2019-08-02 10:19:31 -07:00
parent f1e7ce9ce1
commit 3dc8abcf36
6 changed files with 20 additions and 10 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -116,6 +116,7 @@ public:
    
    virtual void solveExternalForces(btContactSolverInfo& solverInfo);
    virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);
+    void buildIslands();

 };
 #endif  //BT_MULTIBODY_DYNAMICS_WORLD_H