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| author | erwincoumans <erwin.coumans@gmail.com> | 2023-02-24 10:54:03 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2023-02-24 10:54:03 -0800 |
| commit | 0e59474e1cf1fd69e3ca512826cfbe15cd6a9cec (patch) | |
| tree | 593ed49f85b6478f536cfe9118d1f2e99597f3bc /src/BulletSoftBody/btDeformableContactConstraint.cpp | |
| parent | c037d9ba279d74c7e7437a700763892a6ba75760 (diff) | |
| parent | e323404ac393aeb834a3f8f21549e119c76b67ff (diff) | |
| download | bullet3-0e59474e1cf1fd69e3ca512826cfbe15cd6a9cec.tar.gz | |
Merge pull request #4413 from aprilprojecteu/master
re-enable softbody/rigidbody contact report
Diffstat (limited to 'src/BulletSoftBody/btDeformableContactConstraint.cpp')
| -rw-r--r-- | src/BulletSoftBody/btDeformableContactConstraint.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 09398d79a..9c8e72f50 100644 --- a/src/BulletSoftBody/btDeformableContactConstraint.cpp +++ b/src/BulletSoftBody/btDeformableContactConstraint.cpp @@ -268,7 +268,7 @@ btScalar btDeformableRigidContactConstraint::solveConstraint(const btContactSolv { dn += m_penetration * infoGlobal.m_deformable_erp / infoGlobal.m_timeStep; } - // dn is the normal component of velocity diffrerence. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + // dn is the normal component of velocity difference. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt btVector3 impulse = m_contact->m_c0 * (vr + m_total_normal_dv * infoGlobal.m_deformable_cfm + ((m_penetration > 0) ? m_penetration / infoGlobal.m_timeStep * cti.m_normal : btVector3(0, 0, 0))); if (!infoGlobal.m_splitImpulse) { @@ -487,6 +487,9 @@ void btDeformableFaceRigidContactConstraint::applyImpulse(const btVector3& impul btVector3 dv = impulse * contact->m_c2; btSoftBody::Face* face = contact->m_face; + // save applied impulse + contact->m_cti.m_impulse = impulse; + btVector3& v0 = face->m_n[0]->m_v; btVector3& v1 = face->m_n[1]->m_v; btVector3& v2 = face->m_n[2]->m_v; |