1 files changed, 14 insertions, 0 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
index cd1bad089e..fef95f0c4e 100644
--- a/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
+++ b/thirdparty/bullet/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.cpp
@@ -592,6 +592,7 @@ void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep)
 
 			if (!isSleeping)
 			{
+				bod->addSplitV();
 				int nLinks = bod->getNumLinks();
 
 				///base + num m_links
@@ -610,6 +611,7 @@ void btMultiBodyDynamicsWorld::integrateMultiBodyTransforms(btScalar timeStep)
 				m_scratch_world_to_local.resize(nLinks + 1);
 				m_scratch_local_origin.resize(nLinks + 1);
                 bod->updateCollisionObjectWorldTransforms(m_scratch_world_to_local, m_scratch_local_origin);
+				bod->substractSplitV();
 			}
 			else
 			{
@@ -867,6 +869,18 @@ void btMultiBodyDynamicsWorld::serializeMultiBodies(btSerializer* serializer)
 		}
 	}
 }
+
+void btMultiBodyDynamicsWorld::saveKinematicState(btScalar timeStep)
+{
+	btDiscreteDynamicsWorld::saveKinematicState(timeStep);
+	for(int i = 0; i < m_multiBodies.size(); i++)
+	{
+		btMultiBody* body = m_multiBodies[i];
+		if(body->isBaseKinematic())
+			body->saveKinematicState(timeStep);
+	}
+}
+
 //
 //void btMultiBodyDynamicsWorld::setSplitIslands(bool split)
 //{