fix a bug related to joint reaction forces (clearMultiBodyConstraintForces was clearing forces after they were computed in some cases)

2017-11-09 10:46:13 -08:00
parent bfc40e9ef2
commit d6b3f735b6
3 changed files with 8 additions and 1 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -136,6 +136,9 @@ btMultiBody::btMultiBody(int n_links,

    m_baseForce.setValue(0, 0, 0);
    m_baseTorque.setValue(0, 0, 0);
+
+	clearConstraintForces();
+	clearForcesAndTorques();
 }

 btMultiBody::~btMultiBody()