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don't need to call the computeAccelerationsArticulatedBodyAlgorithmMultiDof() the second pass if the m_internalNeedsJointFeedback is false.

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Steven
2019-04-09 20:13:54 +08:00
parent 43e164af8a
commit bdf0553077
1 changed files with 1 additions and 0 deletions
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src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
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@@ -717,6 +717,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
m_scratch_v.resize(bod->getNumLinks() + 1); m_scratch_v.resize(bod->getNumLinks() + 1);
m_scratch_m.resize(bod->getNumLinks() + 1); m_scratch_m.resize(bod->getNumLinks() + 1);
if (bod->internalNeedsJointFeedback())
{ {
if (!bod->isUsingRK4Integration()) if (!bod->isUsingRK4Integration())
{ {