I am building a robotics simulation with a ragdoll and I really need to apply torque at its joints in order to make it move. Given what I have seen, Bullet only offers me to apply torque at the center of mass. However, it allows me to apply force at a given relative position. Is there a similar method but
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btRigidBody::applyRelativeTorque(const btVector3& xyz, const btVector3& rel_pos);
If not, any ideas on how can I implement it?
Thanks!