From 0770a66e8d59800dd5b3687798ce051c0c9b2a66 Mon Sep 17 00:00:00 2001
From: Adnan Munawar <adnan.munawar@live.com>
Date: Thu, 2 Apr 2020 21:12:38 -0400
Subject: [PATCH] Fixes #65. Issue with dt calculation for the controller was
 the cause

---
 external/chai3d-bullet/src/CBulletWorld.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/external/chai3d-bullet/src/CBulletWorld.cpp b/external/chai3d-bullet/src/CBulletWorld.cpp
index 03cf82bd7..94f4cce0b 100644
--- 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;
 }