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Use a modified inverse mass to avoid some instability problems

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This commit is contained in:
Irlan 2019-06-12 20:46:54 -03:00
parent e5db997fa7
commit 46abe231e3
1 changed files with 2 additions and 1 deletions
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src/bounce/cloth/cloth_contact_solver.cpp
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@ -675,7 +675,8 @@ bool b3ClothContactSolver::SolveTriangleContactPositionConstraints()
b3Vec3 JD = b3Cross(xC - xB, N_n); b3Vec3 JD = b3Cross(xC - xB, N_n);
// Compute effective mass. // Compute effective mass.
float32 K = mA + mB * b3Dot(JB, JB) + mC * b3Dot(JC, JC) + mD * b3Dot(JD, JD); //float32 K = mA + mB * b3Dot(JB, JB) + mC * b3Dot(JC, JC) + mD * b3Dot(JD, JD);
float32 K = mA + mB + mC + mD;
// Compute normal impulse. // Compute normal impulse.
float32 impulse = K > 0.0f ? -C / K : 0.0f; float32 impulse = K > 0.0f ? -C / K : 0.0f;