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fixed a minor issue: disable deactivation for the reduced collision example

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jingyuc
2021-08-31 01:33:38 -04:00
parent b1803afbb9
commit 42fac2e364
7 changed files with 28 additions and 25 deletions
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9
src/BulletSoftBody/btDeformableMultiBodyConstraintSolver.cpp
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@@ -22,7 +22,7 @@ btScalar btDeformableMultiBodyConstraintSolver::solveDeformableGroupIterations(b
{
{
// pair deformable body with solver body
pairDeformableAndSolverBody(bodies, numBodies, deformableBodies, numDeformableBodies, infoGlobal);
pairDeformableAndSolverBody(bodies, numBodies, infoGlobal);
///this is a special step to resolve penetrations (just for contacts)
solveGroupCacheFriendlySplitImpulseIterations(bodies, numBodies, deformableBodies, numDeformableBodies, manifoldPtr, numManifolds, constraints, numConstraints, infoGlobal, debugDrawer);
@@ -132,7 +132,7 @@ void btDeformableMultiBodyConstraintSolver::solverBodyWriteBack(const btContactS
}
void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, const btContactSolverInfo& infoGlobal)
void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollisionObject** bodies, int numBodies, const btContactSolverInfo& infoGlobal)
{
if (!m_deformableSolver->isReducedSolver())
{
@@ -150,11 +150,6 @@ void btDeformableMultiBodyConstraintSolver::pairDeformableAndSolverBody(btCollis
m_deformableSolver->pairConstraintWithSolverBody(solverBody);
}
}
for (int i = 0; i < numDeformableBodies; ++i)
{
//
}
}
void btDeformableMultiBodyConstraintSolver::solveGroupCacheFriendlySplitImpulseIterations(btCollisionObject** bodies, int numBodies, btCollisionObject** deformableBodies, int numDeformableBodies, btPersistentManifold** manifoldPtr, int numManifolds, btTypedConstraint** constraints, int numConstraints, const btContactSolverInfo& infoGlobal, btIDebugDraw* debugDrawer)