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Tune deformable collision parameters for more stable deformable vs. deformable contact

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This commit is contained in:
Xuchen Han
2020-04-01 17:46:37 -07:00
parent 0c6c7976ba
commit 80aa523825
4 changed files with 18 additions and 17 deletions
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src/BulletSoftBody/btSoftBody.cpp
+2 -2
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@@ -4139,7 +4139,7 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
if (psb->useSelfCollision())
{
btSoftColliders::CollideFF_DD docollide;
docollide.mrg = getCollisionShape()->getMargin()*2.0;
docollide.mrg = getCollisionShape()->getMargin();
docollide.psb[0] = this;
docollide.psb[1] = psb;
if (this->m_tetras.size() > 0)
@@ -4196,7 +4196,7 @@ void btSoftBody::geometricCollisionHandler(btSoftBody* psb)
if (psb->useSelfCollision())
{
btSoftColliders::CollideCCD docollide;
docollide.mrg = 1e-6;
docollide.mrg = SAFE_EPSILON;
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.dt = psb->m_sst.sdt;