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why call the computeAccelerationsArticulatedBodyAlgorithmMultiDoft twice?
Posted: Mon Apr 08, 2019 12:11 pm
by steven
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.
Re: why call the computeAccelerationsArticulatedBodyAlgorithmMultiDoft twice?
Posted: Tue Apr 09, 2019 6:13 am
by Erwin Coumans
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?
Re: why call the computeAccelerationsArticulatedBodyAlgorithmMultiDoft twice?
Posted: Tue Apr 09, 2019 9:10 am
by steven
OK, i will do it asap. thanks.