diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp index bec8c6530d..7cb92fa3b4 100644 --- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp +++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBody.cpp @@ -125,7 +125,8 @@ btMultiBody::btMultiBody(int n_links, m_posVarCnt(0), m_useRK4(false), m_useGlobalVelocities(false), - m_internalNeedsJointFeedback(false) + m_internalNeedsJointFeedback(false), + m_kinematic_calculate_velocity(false) { m_cachedInertiaTopLeft.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0); m_cachedInertiaTopRight.setValue(0, 0, 0, 0, 0, 0, 0, 0, 0); @@ -2381,7 +2382,7 @@ const char *btMultiBody::serialize(void *dataBuffer, class btSerializer *seriali void btMultiBody::saveKinematicState(btScalar timeStep) { //todo: clamp to some (user definable) safe minimum timestep, to limit maximum angular/linear velocities - if (timeStep != btScalar(0.)) + if (m_kinematic_calculate_velocity && timeStep != btScalar(0.)) { btVector3 linearVelocity, angularVelocity; btTransformUtil::calculateVelocity(getInterpolateBaseWorldTransform(), getBaseWorldTransform(), timeStep, linearVelocity, angularVelocity); |