merge bullet3 pull request 4462

stephengold · May 18, 2023 · 04a0549 · 04a0549
1 parent 58f3c53
commit 04a0549
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/main/native/bullet3/BulletDynamics/Featherstone/btMultiBody.cpp b/src/main/native/bullet3/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -936,7 +936,8 @@ void btMultiBody::computeAccelerationsArticulatedBodyAlgorithmMultiDof(btScalar
 			if (m_useGyroTerm)
 				zeroAccSpatFrc[i + 1].addAngular(spatVel[i + 1].getAngular().cross(m_links[i].m_inertiaLocal * spatVel[i + 1].getAngular()));
 			//
-			zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear()));
+                        if (!isConstraintPass)
+      				zeroAccSpatFrc[i + 1].addLinear(m_links[i].m_mass * spatVel[i + 1].getAngular().cross(spatVel[i + 1].getLinear()));
 			//
 			//btVector3 temp = m_links[i].m_mass * spatVel[i+1].getAngular().cross(spatVel[i+1].getLinear());
 			////clamp parent's omega