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| author | Steven <shengjun89@163.com> | 2019-04-09 20:13:54 +0800 |
|---|---|---|
| committer | Steven <shengjun89@163.com> | 2019-04-09 20:13:54 +0800 |
| commit | bdf055307759cca0522951d64419e59af2dd9dc1 (patch) | |
| tree | 315ccd53bd2f8b4ed640f2a34f076eacd25b90b8 | |
| parent | 43e164af8a378359aaf7c49670885f95c10c140d (diff) | |
| download | bullet3-bdf055307759cca0522951d64419e59af2dd9dc1.tar.gz | |
don't need to call the computeAccelerationsArticulatedBodyAlgorithmMultiDof() the second pass if the m_internalNeedsJointFeedback is false.
| -rw-r--r-- | src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
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()) { |