Real-Time Physics Simulation Forum

If you create a btMultiBody with multiDof = false, it fails to finalizeMultiDof() because of assert on btAssert(m_isMultiDof);. If you skip finalizeMultiDof(), then it will crash in processDeltaVeeMultiDof2() because m_deltaV has not been sized properly.

The non-multidof path of btMultiBody is obsolete/unmaintained, I'll remove it to avoid confusion.