Bullet 刚体与软体的碰撞 collisions between rigidbody and softbody in Bullet

上一篇文章做了一个bullet刚体自由落体的模拟，这篇文章模拟软体与刚体的碰撞，并且让软体保持碰撞后的形状。关于软体的参数配置如下：

btSoftBody::Config :
btSoftBody::Config::aeromodel; // Aerodynamic model (default: V_Point)
define what kind feature is used to compute aerodynamic forces.
btSoftBody::Config::kVCF; // Velocities correction factor (Baumgarte)
define the amount of correction per time step for drift solver (sometimes referred as ERP in rigid bodies solvers).
btSoftBody::Config::kDP; // Damping coefficient [0,1]
damping, zero = no damping, one= full damping.
btSoftBody::Config::kDG; // Drag coefficient [0,+inf]
[aerodynamic]=> is referred in http://en.wikipedia.org/wiki/Drag_%28force%29 as 'Cd', kDG=0 mean no drag.
btSoftBody::Config::kLF; // Lift coefficient [0,+inf]
[aerodynamic]=> is a factor of the lift force (http://en.wikipedia.org/wiki/Lift_%28force%29) kLF=0 mean no lift