add method to remove softbody

src/BulletSoftBody/btDeformableBackwardEulerObjective.cpp

@@ -27,7 +27,10 @@ btDeformableBackwardEulerObjective::btDeformableBackwardEulerObjective(btAligned
 void btDeformableBackwardEulerObjective::reinitialize(bool nodeUpdated, btScalar dt)
 {
     BT_PROFILE("reinitialize");
-    setDt(dt);
+    if (dt > 0)
+    {
+        setDt(dt);
+    }
     if(nodeUpdated)
     {
         updateId();

src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp

@@ -269,3 +269,11 @@ void btDeformableMultiBodyDynamicsWorld::addForce(btSoftBody* psb, btDeformableL
         forces.push_back(force);
     }
 }
+
+void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
+{
+    m_softBodies.remove(body);
+    btCollisionWorld::removeCollisionObject(body);
+    // force a reinitialize so that node indices get updated.
+    m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1));
+}

src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h

@@ -136,6 +136,8 @@ public:
     
     void addForce(btSoftBody* psb, btDeformableLagrangianForce* force);
     
+    void removeSoftBody(btSoftBody* body);
+    
     int getDrawFlags() const { return (m_drawFlags); }
     void setDrawFlags(int f) { m_drawFlags = f; }
 };