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add correct impulse matrix to multibody-deformable contact

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This commit is contained in:
Xuchen Han
2019-07-24 16:01:47 -07:00
parent 243b9fc8c7
commit 233a381e7c
14 changed files with 618 additions and 594 deletions
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4
examples/VolumetricDeformable/VolumetricDeformable.cpp
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@@ -77,8 +77,8 @@ public:
void stepSimulation(float deltaTime)
{
//use a smaller internal timestep, there are stability issues
float internalTimeStep = 1. / 480.f;
m_dynamicsWorld->stepSimulation(deltaTime, 8, internalTimeStep);
float internalTimeStep = 1. / 240.f;
m_dynamicsWorld->stepSimulation(deltaTime, 4, internalTimeStep);
}
void createStaticBox(const btVector3& halfEdge, const btVector3& translation)