From ca92cf067ee8cd32b7dbcfcaa40d9ae1cb8ee6b4 Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Mon, 7 Oct 2019 14:48:36 -0700
Subject: [PATCH] fix removeCollisionObject for Deformable world

---
 .../btDeformableMultiBodyDynamicsWorld.cpp               | 9 +++++++++
 src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h  | 2 ++
 2 files changed, 11 insertions(+)

diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
index 595ed737c..73e534d09 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.cpp
@@ -386,3 +386,12 @@ void btDeformableMultiBodyDynamicsWorld::removeSoftBody(btSoftBody* body)
     // force a reinitialize so that node indices get updated.
     m_deformableBodySolver->reinitialize(m_softBodies, btScalar(-1));
 }
+
+void btDeformableMultiBodyDynamicsWorld::removeCollisionObject(btCollisionObject* collisionObject)
+{
+    btSoftBody* body = btSoftBody::upcast(collisionObject);
+    if (body)
+        removeSoftBody(body);
+    else
+        btDiscreteDynamicsWorld::removeCollisionObject(collisionObject);
+}
diff --git a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
index e66e060f2..f618c989d 100644
--- a/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
+++ b/src/BulletSoftBody/btDeformableMultiBodyDynamicsWorld.h
@@ -147,6 +147,8 @@ public:
     
     void removeSoftBody(btSoftBody* body);
     
+    void removeCollisionObject(btCollisionObject* collisionObject);
+    
     int getDrawFlags() const { return (m_drawFlags); }
     void setDrawFlags(int f) { m_drawFlags = f; }