From ff2c79e6bc3cea33bc104de3642900ad58b2a6e8 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Thu, 3 Nov 2016 12:14:39 -0700
Subject: [PATCH] Fix a bug in softbody contact handling.

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +-
 src/BulletSoftBody/btSoftBody.cpp                       | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 0191b5f69..8b1edb68d 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1658,7 +1658,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     pm->m_kLST				=	1.0;
                     pm->m_flags				-=	btSoftBody::fMaterial::DebugDraw;
                     psb->generateBendingConstraints(2,pm);
-                    psb->m_cfg.piterations	=	20;
+                    psb->m_cfg.piterations	=	50;
                     psb->m_cfg.kDF			=	0.5;
                     psb->randomizeConstraints();
                     psb->rotate(btQuaternion(0.70711,0,0,0.70711));
diff --git a/src/BulletSoftBody/btSoftBody.cpp b/src/BulletSoftBody/btSoftBody.cpp
index b45540b53..d5de7c1b4 100644
--- a/src/BulletSoftBody/btSoftBody.cpp
+++ b/src/BulletSoftBody/btSoftBody.cpp
@@ -3036,6 +3036,7 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
             btRigidBody* rigidCol;
             btMultiBodyLinkCollider* multibodyLinkCol;
             btScalar* deltaV;
+            btMultiBodyJacobianData jacobianData;
             if (cti.m_colObj->getInternalType() == btCollisionObject::CO_RIGID_BODY)
             {
                 rigidCol = (btRigidBody*)btRigidBody::upcast(cti.m_colObj);
@@ -3047,7 +3048,6 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
                 if (multibodyLinkCol)
                 {
                     const int ndof  = multibodyLinkCol->m_multiBody->getNumDofs() + 6;
-                    btMultiBodyJacobianData jacobianData;
                     jacobianData.m_jacobians.resize(ndof);
                     jacobianData.m_deltaVelocitiesUnitImpulse.resize(ndof);
                     btScalar* jac=&jacobianData.m_jacobians[0];