Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

more bug fixes

Browse Source
This commit is contained in:
Xuchen Han
2019-12-27 13:16:31 -08:00
parent 65b75e5937
commit 442047a862
4 changed files with 8 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h
View File

@@ -82,7 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
m_numIterations = 10;
m_erp = btScalar(0.2);
m_erp2 = btScalar(0.2);
m_deformable_erp = btScalar(1.0);
m_deformable_erp = btScalar(0.0);
m_globalCfm = btScalar(0.);
m_frictionERP = btScalar(0.2); //positional friction 'anchors' are disabled by default
m_frictionCFM = btScalar(0.);

4
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
View File

@@ -127,8 +127,8 @@ void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseI
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
// solve the position correction between deformable and rigid/multibody
btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
// btScalar residual = m_deformableSolver->solveSplitImpulse(infoGlobal);
// leastSquaresResidual = btMax(leastSquaresResidual, residual * residual);
}
if (leastSquaresResidual <= infoGlobal.m_leastSquaresResidualThreshold || iteration >= (infoGlobal.m_numIterations - 1))
{

4
src/BulletSoftBody/btSoftBody.cpp
View File

@@ -3700,8 +3700,8 @@ void btSoftBody::defaultCollisionHandler(const btCollisionObjectWrapper* pcoWrap
docollideFace.psb = this;
docollideFace.m_colObj1Wrap = pcoWrap;
docollideFace.m_rigidBody = prb1;
docollideFace.dynmargin = basemargin + timemargin;
docollideFace.stamargin = basemargin;
docollideFace.dynmargin = 0.9*(basemargin + timemargin);
docollideFace.stamargin = 0.9*basemargin;
m_fdbvt.collideTV(m_fdbvt.m_root, volume, docollideFace);
}
}