From 166dc2865dd5404c8a4675c62810f8e555dac30b Mon Sep 17 00:00:00 2001 From: jingyuc Date: Tue, 24 Aug 2021 16:30:33 -0400 Subject: [PATCH] frictionless contact also works with reduced modes enabled --- .../BulletReducedSoftBody/btReducedSoftBody.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp index 84fbce0e1..7bc7fad02 100644 --- a/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp +++ b/src/BulletSoftBody/BulletReducedSoftBody/btReducedSoftBody.cpp @@ -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]); } }