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Code Issues Releases Wiki Activity

bug fix in barycentric weight calculation

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This commit is contained in:
Xuchen Han 2020-03-02 22:48:25 -08:00
parent 62537436f2
commit 1cb9a0630f
3 changed files with 10 additions and 8 deletions
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1
examples/DeformableDemo/DeformableSelfCollision.cpp
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@ -156,6 +156,7 @@ void DeformableSelfCollision::addCloth(btVector3 origin)
psb->getCollisionShape()->setMargin(0.0075);
psb->generateBendingConstraints(2);
psb->generateBendingConstraints(2);
psb->setTotalMass(.5);
psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
psb->m_cfg.kCHR = 1; // collision hardness with rigid body

11
src/BulletSoftBody/btSoftBodyHelpers.cpp
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@ -1510,9 +1510,9 @@ void btSoftBodyHelpers::getBarycentricWeights(const btVector3& a, const btVector
btScalar d20 = btDot(v2, v0);
btScalar d21 = btDot(v2, v1);
btScalar invDenom = 1.0 / (d00 * d11 - d01 * d01);
bary[0] = (d11 * d20 - d01 * d21) * invDenom;
bary[1] = (d00 * d21 - d01 * d20) * invDenom;
bary[2] = 1.0 - bary[0] - bary[1];
bary[1] = (d11 * d20 - d01 * d21) * invDenom;
bary[2] = (d00 * d21 - d01 * d20) * invDenom;
bary[0] = 1.0 - bary[1] - bary[2];
bary[3] = 0;
}
@ -1575,7 +1575,7 @@ void btSoftBodyHelpers::extrapolateBarycentricWeights(btSoftBody* psb)
btVector4 optimal_bary;
btScalar min_bary_weight = -1e3;
btAlignedObjectArray<const btSoftBody::Node*> optimal_parents;
btScalar dist;
btScalar dist, optimal_dist;
for (int j = 0; j < psb->m_faces.size(); ++j)
{
const btSoftBody::Face& f = psb->m_faces[j];
@ -1597,6 +1597,7 @@ void btSoftBodyHelpers::extrapolateBarycentricWeights(btSoftBody* psb)
parents.push_back(f.m_n[2]);
optimal_parents = parents;
optimal_bary = bary;
optimal_dist = dist;
min_bary_weight = new_min_bary_weight;
// stop searching if the projected p is inside the triangle at hand
if (bary[0]>=0. && bary[1]>=0. && bary[2]>=0.)
@ -1607,6 +1608,6 @@ void btSoftBodyHelpers::extrapolateBarycentricWeights(btSoftBody* psb)
}
psb->m_renderNodesInterpolationWeights[i] = optimal_bary;
psb->m_renderNodesParents[i] = optimal_parents;
psb->m_z[i] = dist;
psb->m_z[i] = optimal_dist;
}
}

6
src/BulletSoftBody/btSoftBodyInternals.h
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@ -78,9 +78,9 @@ static SIMD_FORCE_INLINE bool proximityTest(const btVector3& x1, const btVector3
btScalar det = a11*a22 - a12*a12;
if (det < SIMD_EPSILON)
return false;
btScalar w1 = (b1*a22-b2*a12)/det;
btScalar w2 = (b2*a11-b1*a12)/det;
btScalar w3 = 1-w1-w2;
btScalar w2 = (b1*a22-b2*a12)/det;
btScalar w3 = (b2*a11-b1*a12)/det;
btScalar w1 = 1-w2-w3;
btScalar delta = mrg / std::sqrt(0.5*std::abs(x13.cross(x23).safeNorm()));
bary = btVector3(w1,w2,w3);
for (int i = 0; i < 3; ++i)