From bb4a554e68a75141ab725a22f84e219f947ae9a1 Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Sat, 24 Aug 2019 11:51:33 -0700
Subject: [PATCH] bug fix in multibody interpolation world transform: update
 cached rotation and vector

---
 src/BulletDynamics/Featherstone/btMultiBodyLink.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBodyLink.h b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
index 565bb6b3e..01d5583c2 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyLink.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyLink.h
@@ -197,7 +197,7 @@ struct btMultibodyLink
 	{
         btScalar *pJointPos = (pq ? pq : &m_jointPos[0]);
         btQuaternion& cachedRot = m_cachedRotParentToThis;
-        btVector3& cachedVector =m_cachedRVector;
+        btVector3& cachedVector = m_cachedRVector;
 		switch (m_jointType)
 		{
 			case eRevolute:
@@ -241,6 +241,8 @@ struct btMultibodyLink
 				btAssert(0);
 			}
 		}
+        m_cachedRotParentToThis_interpolate = m_cachedRotParentToThis;
+        m_cachedRVector_interpolate = m_cachedRVector;
 	}
     
     void updateInterpolationCacheMultiDof()