contact solve for newton

2019-08-28 10:01:14 -07:00
parent 5826492020
commit 7d1b93cc17
9 changed files with 63 additions and 38 deletions
--- a/src/BulletSoftBody/btSoftBody.h
+++ b/src/BulletSoftBody/btSoftBody.h
@@ -251,8 +251,9 @@ public:
 	struct Node : Feature
 	{
 		btVector3 m_x;       // Position
-		btVector3 m_q;       // Previous step position
+		btVector3 m_q;       // Previous step position/Test position
 		btVector3 m_v;       // Velocity
+        btVector3 m_vn;      // Previous step velocity
 		btVector3 m_f;       // Force accumulator
 		btVector3 m_n;       // Normal
 		btScalar m_im;       // 1/mass