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support split impulse for deformable vs. rigid contact

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This commit is contained in:
Xuchen Han
2020-04-22 15:18:29 -07:00
parent e92d013730
commit 95287e458c
11 changed files with 121 additions and 44 deletions
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2
examples/DeformableDemo/SplitImpulse.cpp
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@@ -165,7 +165,7 @@ void SplitImpulse::initPhysics()
psb->setTotalMass(1);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body
psb->m_cfg.kDF = 0.1;
psb->m_cfg.kDF = 1;
psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
getDeformableDynamicsWorld()->addSoftBody(psb);