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use x_n instead of x_{n+1} to calculate deformable penetration distance

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Xuchen Han
2020-04-15 13:33:43 -07:00
parent 26ef0e093a
commit ebc84b3b8d
1 changed files with 2 additions and 1 deletions
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3
src/BulletSoftBody/btSoftBody.cpp
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@@ -2920,10 +2920,11 @@ bool btSoftBody::checkDeformableFaceContact(const btCollisionObjectWrapper* colO
return false;
contact_point = results.witnesses[0];
getBarycentric(contact_point, f.m_n[0]->m_q, f.m_n[1]->m_q, f.m_n[2]->m_q, bary);
btVector3 curr = BaryEval(f.m_n[0]->m_x, f.m_n[1]->m_x, f.m_n[2]->m_x, bary);
nrm = results.normal;
cti.m_colObj = colObjWrap->getCollisionObject();
cti.m_normal = nrm;
cti.m_offset = dst + csh->getMargin();
cti.m_offset = dst + (curr - contact_point).dot(nrm);
}
return (dst < 0);
}