Merge pull request #2195 from Steven89Liu/NeedsJointFeedback

don't need to call the computeAccelerationsArticulatedBodyAlgorithmMu…
2019-04-09 09:25:07 -07:00
parent 43e164af8a bdf0553077
commit c243f9e7c7
1 changed files with 1 additions and 0 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -717,6 +717,7 @@ void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 				m_scratch_v.resize(bod->getNumLinks() + 1);
 				m_scratch_m.resize(bod->getNumLinks() + 1);

+				if (bod->internalNeedsJointFeedback())
 				{
 					if (!bod->isUsingRK4Integration())
 					{