add btMultiBodyConstraint::finalizeMultiDof API: if you add multi-body constraints to a multi-dof btMultiBody, before it has been finalized using the btMultiBody::finalizeMultiDof call,

then you have to manually call the btMultiBodyConstraint::finalizeMultiDof for all multi-dof multi body constraints.

src/BulletDynamics/Featherstone/btMultiBodyConstraint.h

@@ -82,7 +82,7 @@ public:
 	btMultiBodyConstraint(btMultiBody* bodyA,btMultiBody* bodyB,int linkA, int linkB, int numRows, bool isUnilateral);
 	virtual ~btMultiBodyConstraint();
 
-
+	void finalizeMultiDof();
 
 	virtual int getIslandIdA() const =0;
 	virtual int getIslandIdB() const =0;