Is it possible to change the mass of a rigid body without removing it from the world first? Searches have indicated that it is, but I'm getting some really strange behaviour such as floating objects or just no movement at all.
I'm currently doing the following:
rigidBody->getCollisionShape()->calculateLocalInertia( newmass, inertia );
rigidBody->setMassProps( newmass, inertia );
The body in question is actually used in a btRaycastVehicle, though I don't suppose that should make any difference?