diff options
Diffstat (limited to 'src/BulletSoftBody/btSoftBody.cpp')
| -rw-r--r-- | src/BulletSoftBody/btSoftBody.cpp | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp index bd7587c47..c31bdb7ed 100644 --- a/src/BulletSoftBody/btSoftBody.cpp +++ b/src/BulletSoftBody/btSoftBody.cpp @@ -2266,14 +2266,15 @@ btVector3 btSoftBody::evaluateCom() const bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, const btVector3& x, btScalar margin, - btSoftBody::sCti& cti) const + btSoftBody::sCti& cti, bool predict) const { btVector3 nrm; const btCollisionShape* shp = colObjWrap->getCollisionShape(); - const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); + const btRigidBody *tmpRigid = btRigidBody::upcast(colObjWrap->getCollisionObject()); // get the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg - const btTransform &wtr = tmpRigid ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); + const btTransform &wtr = (tmpRigid&&predict) ? tmpRigid->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); +// const btTransform &wtr = predict ? colObjWrap->getInterpolationWorldTransform() : colObjWrap->getWorldTransform(); // TODO: get the correct transform for multibody btScalar dst = @@ -2282,11 +2283,10 @@ bool btSoftBody::checkContact(const btCollisionObjectWrapper* colObjWrap, shp, nrm, margin); - if (dst < 0) + if (dst < 0 || !predict) { cti.m_colObj = colObjWrap->getCollisionObject(); cti.m_normal = wtr.getBasis() * nrm; -// cti.m_offset = -btDot(cti.m_normal, x - cti.m_normal * dst); cti.m_offset = dst; return (true); } |