Change frame of a link/joint without moving the link joint
Hello,
Is there a way to change the frame of a link/joint at runtime? I am asking because I would like to change the axis of rotation of a joint at runtime (by editing the frame in which this axis is expressed).
Note: Entity::SetWorldPose() is not an option because it changes the position of the underlying link/joint and disturbs the momenta.
Kind regards,
Antoine.