Control callback for btMultiBodyDynamicsWorld

Post Reply
freezics
Posts: 5
Joined: Tue Nov 05, 2013 3:05 am

Control callback for btMultiBodyDynamicsWorld

Post by freezics »

Hello

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
Post Reply