Hi there, I'm trying to create an articulated body representing a (simplified) human skeleton. The focus is more towards real-time character animation, as opposed to say, super-accurate biomechanical simulation. I'm new to this library (and physics engines in general) so I'm trying to understand the best way to go about it. I'm creating a btRigidBody to represent each bone, and adding joint constraints between the bones. From what I can tell though, there are two ways to define the joints:
- Add a bunch of independent constraints
- Use the btMultiBody type
Is either of these approaches likely to be more performant and/or more stable?
I'm also wondering about the maturity/robustness of btMultiBody and related features, as I've read comments in a few places that it's still somewhat experimental. Most of those comments are a few years old though, so I'm wondering whether it's considered more mature now?