forked from bartvdbraak/blender
43 lines
2.0 KiB
Diff
43 lines
2.0 KiB
Diff
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Index: extern/bullet2/src/BulletSoftBody/btSoftBody.cpp
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===================================================================
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--- extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43904)
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+++ extern/bullet2/src/BulletSoftBody/btSoftBody.cpp (Revision 43905)
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@@ -2780,21 +2780,23 @@
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{
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const RContact& c = psb->m_rcontacts[i];
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const sCti& cti = c.m_cti;
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- btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
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- const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
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- const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
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- const btVector3 vr = vb-va;
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- const btScalar dn = btDot(vr, cti.m_normal);
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- if(dn<=SIMD_EPSILON)
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- {
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- const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
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- const btVector3 fv = vr - (cti.m_normal * dn);
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- // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
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- const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
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- c.m_node->m_x -= impulse * c.m_c2;
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- if (tmpRigid)
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- tmpRigid->applyImpulse(impulse,c.m_c1);
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+ if (cti.m_colObj->hasContactResponse()) {
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+ btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
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+ const btVector3 va = tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
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+ const btVector3 vb = c.m_node->m_x-c.m_node->m_q;
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+ const btVector3 vr = vb-va;
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+ const btScalar dn = btDot(vr, cti.m_normal);
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+ if(dn<=SIMD_EPSILON)
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+ {
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+ const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
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+ const btVector3 fv = vr - (cti.m_normal * dn);
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+ // c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
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+ const btVector3 impulse = c.m_c0 * ( (vr - (fv * c.m_c3) + (cti.m_normal * (dp * c.m_c4))) * kst );
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+ c.m_node->m_x -= impulse * c.m_c2;
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+ if (tmpRigid)
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+ tmpRigid->applyImpulse(impulse,c.m_c1);
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+ }
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}
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}
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}
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