support split impulse for deformable vs. rigid contact

2026-10-29 20:15:35 +00:00 · 2020-04-22 15:18:29 -07:00
parent e92d013730
commit 95287e458c
11 changed files with 121 additions and 44 deletions
@@ -315,7 +315,7 @@ void btDeformableMultiBodyDynamicsWorld::integrateTransforms(btScalar timeStep)
                    node.m_v[c] = -clampDeltaV;
                }
            }
-            node.m_x  =  node.m_x + timeStep * node.m_v;
+            node.m_x  =  node.m_x + timeStep * (node.m_v + node.m_splitv);
            node.m_q = node.m_x;
            node.m_vn = node.m_v;
        }