diff options
Diffstat (limited to 'src/BulletSoftBody/btDeformableContactConstraint.cpp')
| -rw-r--r-- | src/BulletSoftBody/btDeformableContactConstraint.cpp | 5 |
1 files changed, 1 insertions, 4 deletions
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.cpp b/src/BulletSoftBody/btDeformableContactConstraint.cpp index 9c8e72f50..09398d79a 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 difference. Approximates the residual. // todo xuchenhan@: this prob needs to be scaled by dt + // dn is the normal component of velocity diffrerence. 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) { @@ -487,9 +487,6 @@ 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; |