Fixes WPI-AIM#65. Issue with dt calculation for the controller was th…

…e cause
TzeLun · Apr 3, 2020 · 0770a66 · 0770a66
1 parent 46ca437
commit 0770a66
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/external/chai3d-bullet/src/CBulletWorld.cpp b/external/chai3d-bullet/src/CBulletWorld.cpp
@@ -212,6 +212,7 @@ void cBulletWorld::updateDynamics(double a_interval, double a_wallClock, double
     m_bulletWorld->stepSimulation(a_interval, m_integrationMaxIterations, m_integrationTimeStep);
 
     // add time to overall simulation
+    m_lastSimulationTime = m_simulationTime;
     m_simulationTime = m_simulationTime + a_interval;
 
 #ifdef C_ENABLE_AMBF_COMM_SUPPORT
@@ -262,7 +263,6 @@ double cBulletWorld::getSimulationTime(){
 //==============================================================================
 double cBulletWorld::getSimulationDeltaTime(){
     double dt = m_simulationTime - m_lastSimulationTime;
-    m_lastSimulationTime = m_simulationTime;
     return dt;
 }