Do I have to remove a btRigidBody from the btDiscreteDynamicsWorld and then re-add it for all changes?
For example, I think I read somewhere that it's OK to use btCompoundShape::updateChildTransform() without removing the body from the world when dealing with animated rigid bodies.
On the other hand, I read that for something as simple as changing the mass of the btRigidBody, it must be removed and re-added to the world.
So is there a general rule or documentation somewhere about what operations require the btRigidBody to be removed and re-added to the world?
For example, what if I do this to a shape that's being used by a rigid body in the world?
Code: Select all
shape->~btBoxShape();
new (shape) btBoxShape({ extents.x, extents.y, extents.z });