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frictionless contact also works with reduced modes enabled

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jingyuc
2021-08-24 16:30:33 -04:00
parent c735830f0a
commit 166dc2865d
1 changed files with 2 additions and 2 deletions
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4
src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp
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@@ -8,7 +8,7 @@
btReducedSoftBody::btReducedSoftBody(btSoftBodyWorldInfo* worldInfo, int node_count, const btVector3* x, const btScalar* m)
: btSoftBody(worldInfo, node_count, x, m)
{
m_rigidOnly = true; //! only use rigid frame to debug
m_rigidOnly = false; //! only use rigid frame to debug
// reduced deformable
m_reducedModel = true;
@@ -547,7 +547,7 @@ void btReducedSoftBody::internalApplyFullSpaceImpulse(const btVector3& impulse,
for (int r = 0; r < m_nReduced; ++r)
{
btScalar mass_inv = (m_Mr[r] == 0) ? 0 : 1.0 / m_Mr[r]; // TODO: this might be redundant, because Mr is identity
m_internalDeltaReducedVelocity[r] = dt * mass_inv * (m_reducedForceDamping[r] + m_reducedForceExternal[r]);
m_internalDeltaReducedVelocity[r] += dt * mass_inv * (m_reducedForceDamping[r] + m_reducedForceExternal[r]);
}
}