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fix bug in multibody point contact with deformable

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This commit is contained in:
Chuyuan Fu
2020-08-06 20:54:15 -07:00
parent b8fd4a1060
commit 086638d16e
3 changed files with 28 additions and 6 deletions
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7
src/BulletSoftBody/btDeformableContactProjection.cpp
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@@ -494,6 +494,9 @@ void btDeformableContactProjection::setLagrangeMultiplier()
lm.m_dirs[2] = btVector3(0, 0, 1);
m_lagrangeMultipliers.push_back(lm);
}
if( m_faceRigidConstraints[i].size()==0){
for (int j = 0; j < m_nodeRigidConstraints[i].size(); ++j)
{
if (!m_nodeRigidConstraints[i][j].m_binding)
@@ -519,7 +522,9 @@ void btDeformableContactProjection::setLagrangeMultiplier()
lm.m_dirs[0] = m_nodeRigidConstraints[i][j].m_normal;
}
m_lagrangeMultipliers.push_back(lm);
}
}
}
for (int j = 0; j < m_faceRigidConstraints[i].size(); ++j)
{
if (!m_faceRigidConstraints[i][j].m_binding)