I think to have it working like you, with pretty similar syntax.
In my system I need to add mass on the kinematic body because it don't take care about the omega when the body have zero mass.
https://www.youtube.com/watch?v=5CtO4pF6uukEdited:
Ok I have find why in my system it don't work with mass zero.
It's because normally my object system don't set the transform callback when the mass is zero.
It is fixed now for the kinematic body.
Hum no something don't work good for me.
In your demo you don't set any mass.
I have fix the problem to get the kinematic matrix in the transform callback but when the mass is zero the matrix stay always at the identity state.
If I set the mass to 1 the matrix start to become updated in the transform callback.
This video show my problem.
https://www.youtube.com/watch?v=GQZEUTMZaogYou can see the kinematic body is read from the callback but when mass is zero the matrix stay at identity state.
It is updated only when mass is over zero.
Edited 2:
Forget it, I have update my dll and now it work correctly with zero mass.
Cool.
Thanks.