safe guard against NaN in dv after CG solve

2019-08-20 11:12:36 -07:00
parent 76d37ec475
commit 7e971d9f63
1 changed files with 5 additions and 0 deletions
--- a/src/BulletSoftBody/btDeformableBodySolver.cpp
+++ b/src/BulletSoftBody/btDeformableBodySolver.cpp
@@ -103,6 +103,11 @@ void btDeformableBodySolver::updateVelocity()
        btSoftBody* psb = m_softBodySet[i];
        for (int j = 0; j < psb->m_nodes.size(); ++j)
        {
+            // set NaN to zero;
+            if (m_dv[counter] != m_dv[counter])
+            {
+                m_dv[counter].setZero();
+            }
            psb->m_nodes[j].m_v = m_backupVelocity[counter]+m_dv[counter];
            ++counter;
        }