Merge pull request #2475 from xhan0619/fix-issue-#2473

Fix issue #2473

examples/DeformableDemo/SplitImpulse.cpp

@@ -162,9 +162,9 @@ void SplitImpulse::initPhysics()
     }
     
 #ifdef USE_SPLIT_IMPULSE
-        getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.03;
+        getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.03;
 #else
-        getDeformableDynamicsWorld()->getSolverInfo().m_erp = 0.0;
+        getDeformableDynamicsWorld()->getSolverInfo().m_deformable_erp = 0.0;
 #endif
     
     // create a piece of cloth

src/BulletDynamics/ConstraintSolver/btContactSolverInfo.h

@@ -46,6 +46,7 @@ struct btContactSolverInfoData
 	btScalar m_sor;          //successive over-relaxation term
 	btScalar m_erp;          //error reduction for non-contact constraints
 	btScalar m_erp2;         //error reduction for contact constraints
+    btScalar m_deformable_erp;          //error reduction for deformable constraints
 	btScalar m_globalCfm;    //constraint force mixing for contacts and non-contacts
 	btScalar m_frictionERP;  //error reduction for friction constraints
 	btScalar m_frictionCFM;  //constraint force mixing for friction constraints
@@ -81,6 +82,7 @@ struct btContactSolverInfo : public btContactSolverInfoData
 		m_numIterations = 10;
 		m_erp = btScalar(0.2);
 		m_erp2 = btScalar(0.2);
+        m_deformable_erp = btScalar(0.);
 		m_globalCfm = btScalar(0.);
 		m_frictionERP = btScalar(0.2);  //positional friction 'anchors' are disabled by default
 		m_frictionCFM = btScalar(0.);

src/BulletSoftBody/btDeformableContactProjection.cpp

@@ -59,7 +59,7 @@ void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo&
         btAlignedObjectArray<btDeformableNodeRigidContactConstraint>& constraints = *m_nodeRigidConstraints.getAtIndex(index);
         for (int i = 0; i < constraints.size(); ++i)
         {
-            constraints[i].setPenetrationScale(infoGlobal.m_erp);
+            constraints[i].setPenetrationScale(infoGlobal.m_deformable_erp);
         }
     }
     
@@ -67,7 +67,7 @@ void btDeformableContactProjection::splitImpulseSetup(const btContactSolverInfo&
     for (int index = 0; index < m_allFaceConstraints.size(); ++index)
     {
         btDeformableContactConstraint* constraint = m_allFaceConstraints[index];
-        constraint->setPenetrationScale(infoGlobal.m_erp);
+        constraint->setPenetrationScale(infoGlobal.m_deformable_erp);
     }
 }
 

src/BulletSoftBody/btSoftBody.cpp

@@ -92,7 +92,6 @@ void btSoftBody::initDefaults()
     m_cfg.drag = 0;
     m_cfg.m_maxStress = 0;
 	m_cfg.collisions = fCollision::Default;
-    m_cfg.collisions |= fCollision::VF_DD;
 	m_pose.m_bvolume = false;
 	m_pose.m_bframe = false;
 	m_pose.m_volume = 0;