1 files changed, 6 insertions, 2 deletions
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index d1ac5e26f..2e6dbc440 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -428,14 +428,18 @@ void btMultiBodyDynamicsWorld::forwardKinematics()
 void btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo)
 {
     solveExternalForces(solverInfo);
+    buildIslands();
     solveInternalConstraints(solverInfo);
 }
 
+void btMultiBodyDynamicsWorld::buildIslands()
+{
+    m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
+}
+
 void btMultiBodyDynamicsWorld::solveInternalConstraints(btContactSolverInfo& solverInfo)
 {
 	/// solve all the constraints for this island
-	m_islandManager->buildAndProcessIslands(getCollisionWorld()->getDispatcher(), getCollisionWorld(), m_solverMultiBodyIslandCallback);
-
 	m_solverMultiBodyIslandCallback->processConstraints();
 
 	m_constraintSolver->allSolved(solverInfo, m_debugDrawer);