why call the computeAccelerationsArticulatedBodyAlgorithmMultiDoft twice?

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steven
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why call the computeAccelerationsArticulatedBodyAlgorithmMultiDoft twice?

Post by steven » Mon Apr 08, 2019 12:11 pm

i don't understand why we have to call this function computeAccelerationsArticulatedBodyAlgorithmMultiDof() twice which is very time consuming,i don't think the second time is necessary if we don't set the btMultiBodyJointFeedback. any idea is appreciated, thanks.

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Erwin Coumans
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Re: why call the computeAccelerationsArticulatedBodyAlgorithmMultiDoft twice?

Post by Erwin Coumans » Tue Apr 09, 2019 6:13 am

Good point, the second pass is used for joint feedback (using results from the constraint solver).

We can add a check for 'body->internalNeedsJointFeedback()' around line 720 of btMultiBodyDynamicsWorld. Mind sending a patch to github?

steven
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Joined: Mon Nov 05, 2018 8:16 am
Location: China

Re: why call the computeAccelerationsArticulatedBodyAlgorithmMultiDoft twice?

Post by steven » Tue Apr 09, 2019 9:10 am

OK, i will do it asap. thanks.

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