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Merge pull request #2447 from xhan0619/fix-cloth-friction

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fix bug in deformable vs. deformable friction
This commit is contained in:
erwincoumans
2019-10-23 19:31:12 -07:00
committed by GitHub
parent 9e72e01dad c6af3aa3f8
commit e4ba8be582
2 changed files with 2 additions and 2 deletions
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2
examples/DeformableDemo/DeformableContact.cpp
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@@ -182,7 +182,7 @@ void DeformableContact::initPhysics()
psb2->setTotalMass(1); psb2->setTotalMass(1);
psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects psb2->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb2->m_cfg.kCHR = 1; // collision hardness with rigid body psb2->m_cfg.kCHR = 1; // collision hardness with rigid body
psb2->m_cfg.kDF = 0.1; psb2->m_cfg.kDF = 0;
psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD; psb2->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD; psb2->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
psb->translate(btVector3(3.5,0,0)); psb->translate(btVector3(3.5,0,0));

2
src/BulletSoftBody/btDeformableContactConstraint.cpp
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@@ -435,7 +435,7 @@ btScalar btDeformableFaceNodeContactConstraint::solveConstraint()
m_total_tangent_dv -= impulse_tangent * m_contact->m_imf; m_total_tangent_dv -= impulse_tangent * m_contact->m_imf;
} }
if (m_total_normal_dv.dot(m_contact->m_normal) < 0) if (m_total_normal_dv.dot(m_contact->m_normal) > 0)
{ {
// separating in the normal direction // separating in the normal direction
m_static = false; m_static = false;