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Disable velocity calculation in kinematic multibody mode by default

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We haven't implemented this for the multi body joints. To be consistent, let's disable it for the base as well, and let user to set the velocities.
This commit is contained in:
WenlongLu
2020-12-14 17:19:27 -08:00
parent c377260d71
commit 62eb2f7788
3 changed files with 8 additions and 2 deletions
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2
examples/MultiBody/KinematicMultiBodyExample.cpp
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@@ -37,6 +37,8 @@ void kinematicPreTickCallback(btDynamicsWorld* world, btScalar deltaTime)
btVector3 angularVelocity(0, 0.1, 0);
btTransformUtil::integrateTransform(groundBody->getBaseWorldTransform(), linearVelocity, angularVelocity, deltaTime, predictedTrans);
groundBody->setBaseWorldTransform(predictedTrans);
groundBody->setBaseVel(linearVelocity);
groundBody->setBaseOmega(angularVelocity);
static float time = 0.0;
time += deltaTime;