Real-Time Physics Simulation Forum 2013-11-05T03:21:55+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/9523 2013-11-05T03:21:55+00:00 2013-11-05T03:21:55+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=32092#p32092 <![CDATA[Control callback for btMultiBodyDynamicsWorld]]>
This is a little feedback concerning Featherstone-based simulation.

In btMultiBodyDynamicsWorld::solveConstraints(btContactSolverInfo& solverInfo) there is a call to clearForcesAndTorques() for each multibody. Because of this, the pre-tick callback in class btDynamicsWorld cannot be used to set custom control forces/torques.

The solution I'm working with is to add a callback member to class btMultibody which gets called right before stepVelocities().

Cheers

Statistics: Posted by freezics — Tue Nov 05, 2013 3:21 am

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