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Do not destroy bodyTransform, as this is in fact the btTranform retur…
…ned by .getCenterOfMassTransform, that is, protected member m_worldTransform of the btCollisionObject class and not an object instantiated locally Deleting this object will eventually lead to an out of bound access error that will prevent any further constraint See https://pybullet.org/Bullet/BulletFull/classbtRigidBody.html#a5eaee89e89e7498cfb39709e58fdc477
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