Step from a transformation to an other

[OSasuke]

Hello.

Let's say : I have a rigid body with the btTransfrom tA.

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btRigidBody* body;
btTransform tA = body->getCenterOfMassTransform();

And I have a second transform tB;

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btTransform tB;
tB.setOrigin(btVector3(x,y,z));
tB.setRotation(btQuaternion(x,y,z,w));

Now, i want to know what are the linearImpluse and the torqueImpluse i have to apply to the body to step from tA to tB one step;

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body->applyCentralImpluse(btVector(?,?,?));
body->applyTorqueImpluse(btVector(?,?,?));

I tried this :

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btVector3 linear, angular;
btTransformUtil::calculateVelocity(tA, tB, 1, linear, angular);
body->applyCentralImpluse(linear);
body->applyTorqueImpluse(angular);

But it seem to not work.

Can anyone help me please ?
Thanks.

[OSasuke]

Up

[lulzfish]

Maybe you want to set the velocity, instead of applying an impulse?
should be something like setVelocity and setAngularVelocity.