add correct impulse matrix to multibody-deformable contact

2019-07-24 16:01:47 -07:00
parent 243b9fc8c7
commit 233a381e7c
14 changed files with 618 additions and 594 deletions
--- a/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h
@@ -113,6 +113,7 @@ public:
 	virtual void getAnalyticsData(btAlignedObjectArray<struct btSolverAnalyticsData>& m_islandAnalyticsData) const;
    
    virtual void solveExternalForces(btContactSolverInfo& solverInfo);
+    virtual void solveInternalConstraints(btContactSolverInfo& solverInfo);

 };
 #endif  //BT_MULTIBODY_DYNAMICS_WORLD_H