Initial body transform

[frca]

Hello,
I know there is a way to set the initial body transform via btMotionState passed to the btRigidBody constructor. But is there a way to set it later?
Thanks

[Erwin Coumans]

body->setWorldTransform(newTransform) should work.

Thanks,
Erwin

[frca]

I was so focused to the btRigidBody class that I forgot to check the btCollisionObject from which it is inherited for the appropriate function.
Thanks for your patience

[frca]

My current impression is that body->setWorldTransform(newTransform) should be used for initial body transform only. For changing body transform during simulation body->getMotionState()->setWorldTransform(newTransform) should be used. Is that right?

Or should the btMotionState be used only for getting the current transform and setting body's transform should be done always directly (i. e. body->setWorldTransform(newTransform))?

Thanks.