From bdf055307759cca0522951d64419e59af2dd9dc1 Mon Sep 17 00:00:00 2001
From: Steven <shengjun89@163.com>
Date: Tue, 9 Apr 2019 20:13:54 +0800
Subject: [PATCH] don't need to call the
 computeAccelerationsArticulatedBodyAlgorithmMultiDof() the second pass if the
 m_internalNeedsJointFeedback is false.

---
 src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index 1557987bc..faaa211f6 100644
--- 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())
 					{