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