From f33532273a243cd3d0869540a5a0c2383be7e65a Mon Sep 17 00:00:00 2001
From: Xuchen Han <xuchenhan2015@u.northwestern.edu>
Date: Wed, 21 Aug 2019 16:03:54 -0700
Subject: [PATCH] sync interpolationTransform for multibody in
 integrateTransform; revert changes to voxel size in sparseSDF

---
 src/BulletDynamics/Featherstone/btMultiBody.cpp | 2 ++
 src/BulletSoftBody/btSparseSDF.h                | 2 +-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/BulletDynamics/Featherstone/btMultiBody.cpp b/src/BulletDynamics/Featherstone/btMultiBody.cpp
index 4d634b699..654f77c09 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBody.cpp
@@ -2142,6 +2142,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu
 		tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
 
 		getBaseCollider()->setWorldTransform(tr);
+        getBaseCollider()->setInterpolationWorldTransform(tr);
 	}
 
 	for (int k = 0; k < getNumLinks(); k++)
@@ -2170,6 +2171,7 @@ void btMultiBody::updateCollisionObjectWorldTransforms(btAlignedObjectArray<btQu
 			tr.setRotation(btQuaternion(quat[0], quat[1], quat[2], quat[3]));
 
 			col->setWorldTransform(tr);
+            col->setInterpolationWorldTransform(tr);
 		}
 	}
 }
diff --git a/src/BulletSoftBody/btSparseSDF.h b/src/BulletSoftBody/btSparseSDF.h
index 2b7fabea3..a52b2cb1c 100644
--- a/src/BulletSoftBody/btSparseSDF.h
+++ b/src/BulletSoftBody/btSparseSDF.h
@@ -103,7 +103,7 @@ struct btSparseSdf
 				pc = pn;
 			}
 		}
-		voxelsz = 0.025;
+		voxelsz = 0.25;
 		puid = 0;
 		ncells = 0;
 		nprobes = 1;