bugfix: tau/damping not linked up, this allows for solving some physics setup problems

2 files changed, 6 insertions, 6 deletions

diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
index e55c18e4716..1b97934aa17 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactConstraint.cpp
@@ -135,19 +135,19 @@ float resolveSingleCollision(
 	SimdScalar Kfps = 1.f / solverInfo.m_timeStep ;
 
 	float damping = solverInfo.m_damping ;
-	float Kerp = solverInfo.m_erp;
+	float tau = solverInfo.m_tau;
 	
 	if (useGlobalSettingContacts)
 	{
 		damping = contactDamping;
-		Kerp = contactTau;
+		tau = contactTau;
 	} 
 
-	float Kcor = Kerp *Kfps;
+	float Kcor = tau *Kfps;
 
 	//printf("dist=%f\n",distance);
 
-		ConstraintPersistentData* cpd = (ConstraintPersistentData*) contactPoint.m_userPersistentData;
+	ConstraintPersistentData* cpd = (ConstraintPersistentData*) contactPoint.m_userPersistentData;
 	assert(cpd);
 
 	SimdScalar distance = cpd->m_penetration;//contactPoint.GetDistance();
@@ -156,7 +156,7 @@ float resolveSingleCollision(
 	//distance = 0.f;
 	SimdScalar positionalError = Kcor *-distance;
 	//jacDiagABInv;
-	SimdScalar velocityError = cpd->m_restitution - rel_vel;// * damping;
+	SimdScalar velocityError = cpd->m_restitution - rel_vel * damping;
 
 	
 	SimdScalar penetrationImpulse = positionalError * cpd->m_jacDiagABInv;
diff --git a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
index 2ec9b7f6ca1..6c6325df8a6 100644
--- a/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
+++ b/extern/bullet/BulletDynamics/ConstraintSolver/ContactSolverInfo.h
@@ -22,7 +22,7 @@ struct ContactSolverInfo
 
 	inline ContactSolverInfo()
 	{
-		m_tau = 0.6f;
+		m_tau = 0.4f;
 		m_damping = 1.0f;
 		m_friction = 0.3f;
 		m_restitution = 0.f;