Address issues with the genral-case for multibody joints

2022-01-08 21:09:11 +01:00
parent 9726738cd2
commit 87ec0ced40
7 changed files with 261 additions and 587 deletions
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -542,7 +542,7 @@ impl PhysicsPipeline {
            multibody.1.update_root_type(bodies);
            // FIXME: what should we do here? We should not
            //        rely on the next state here.
-            multibody.1.forward_kinematics_next(bodies, true);
+            multibody.1.forward_kinematics(bodies, true);
        }

        self.detect_collisions(