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author | Xuchen Han <xuchenhan@xuchenhan-macbookpro.roam.corp.google.com> | 2019-08-08 16:45:19 -0700 |
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committer | Xuchen Han <xuchenhan@xuchenhan-macbookpro.roam.corp.google.com> | 2019-08-08 16:45:19 -0700 |
commit | 96e8dcef0f57c730ea1f268d6cd575dac22f5d7e (patch) | |
tree | 52b6e166023053df6661e89426ce9c923c3666cd | |
parent | 9a7e30d09ffe20a533ad76b1729e66232aa5de89 (diff) | |
download | bullet3-96e8dcef0f57c730ea1f268d6cd575dac22f5d7e.tar.gz |
fix bug caused by not reseting to zero
-rw-r--r-- | src/BulletSoftBody/btDeformableBodySolver.cpp | 16 |
1 files changed, 13 insertions, 3 deletions
diff --git a/src/BulletSoftBody/btDeformableBodySolver.cpp b/src/BulletSoftBody/btDeformableBodySolver.cpp index fc792bd7f..4dd45edc8 100644 --- a/src/BulletSoftBody/btDeformableBodySolver.cpp +++ b/src/BulletSoftBody/btDeformableBodySolver.cpp @@ -55,9 +55,19 @@ void btDeformableBodySolver::reinitialize(const btAlignedObjectArray<btSoftBody m_softBodySet.copyFromArray(softBodies); bool nodeUpdated = updateNodes(); - m_dv.resize(m_numNodes, btVector3(0,0,0)); - m_residual.resize(m_numNodes, btVector3(0,0,0)); - m_backupVelocity.resize(m_numNodes, btVector3(0,0,0)); + if (nodeUpdated) + { + m_dv.resize(m_numNodes, btVector3(0,0,0)); + m_residual.resize(m_numNodes, btVector3(0,0,0)); + m_backupVelocity.resize(m_numNodes, btVector3(0,0,0)); + } + + // need to setZero here as resize only set value for newly allocated items + for (int i = 0; i < m_numNodes; ++i) + { + m_dv[i].setZero(); + m_residual[i].setZero(); + } m_objective->reinitialize(nodeUpdated); } |