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bug fix in projection; start friction

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This commit is contained in:
Xuchen Han
2019-07-12 10:03:38 -07:00
parent 4e5f4b9fe9
commit 696c96f392
6 changed files with 75 additions and 30 deletions
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3
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -891,7 +891,8 @@ struct btSoftColliders
c.m_c0 = ImpulseMatrix(psb->m_sst.sdt, ima, imb, iwi, ra);
c.m_c1 = ra;
c.m_c2 = ima * psb->m_sst.sdt;
c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc;
// c.m_c3 = fv.length2() < (dn * fc * dn * fc) ? 0 : 1 - fc;
c.m_c3 = fc;
c.m_c4 = m_colObj1Wrap->getCollisionObject()->isStaticOrKinematicObject() ? psb->m_cfg.kKHR : psb->m_cfg.kCHR;
psb->m_rcontacts.push_back(c);
if (m_rigidBody)