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fix gravity set up

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This commit is contained in:
Xuchen Han
2019-10-04 11:21:34 -07:00
committed by Xuchen Han
parent ec91a0ffa4
commit d0e4bbf04d
3 changed files with 6 additions and 9 deletions
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8
src/BulletSoftBody/btSoftBody.cpp
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@@ -2306,10 +2306,10 @@ bool btSoftBody::checkDeformableContact(const btCollisionObjectWrapper* colObjWr
const btCollisionObject* tmpCollisionObj = colObjWrap->getCollisionObject();
// use the position x_{n+1}^* = x_n + dt * v_{n+1}^* where v_{n+1}^* = v_n + dtg for collision detect
// but resolve contact at x_n
btTransform wtr = (predict) ?
(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
: colObjWrap->getWorldTransform();
//const btTransform& wtr = colObjWrap->getWorldTransform();
//btTransform wtr = (predict) ?
//(colObjWrap->m_preTransform != NULL ? tmpCollisionObj->getInterpolationWorldTransform()*(*colObjWrap->m_preTransform) : tmpCollisionObj->getInterpolationWorldTransform())
//: colObjWrap->getWorldTransform();
const btTransform& wtr = colObjWrap->getWorldTransform();
btScalar dst =
m_worldInfo->m_sparsesdf.Evaluate(
wtr.invXform(x),