initialize m_useSelfCollision

examples/DeformableDemo/ClothFriction.cpp

@@ -104,6 +104,8 @@ void ClothFriction::initPhysics()
     btVector3 gravity = btVector3(0, -10, 0);
     m_dynamicsWorld->setGravity(gravity);
     getDeformableDynamicsWorld()->getWorldInfo().m_gravity = gravity;
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.setDefaultVoxelsz(0.25);
+	getDeformableDynamicsWorld()->getWorldInfo().m_sparsesdf.Reset();
     
     m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
     

examples/DeformableDemo/DeformableSelfCollision.cpp

@@ -166,6 +166,7 @@ void DeformableSelfCollision::initPhysics()
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
         psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
         getDeformableDynamicsWorld()->addSoftBody(psb);
+		psb->setSelfCollision(true);
         
         btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(10,0.2, true);
         getDeformableDynamicsWorld()->addForce(psb, mass_spring);

src/BulletSoftBody/btSoftBody.cpp

@@ -119,6 +119,7 @@ void btSoftBody::initDefaults()
     m_dampingCoefficient = 1;
     m_sleepingThreshold = 0.1;
     m_useFaceContact = false;
+	m_useSelfCollision = false;
     m_collisionFlags = 0;
 }