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Code Issues Releases Wiki Activity

formatting and minor bug fix

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This commit is contained in:
Xuchen Han 2020-03-18 18:02:37 -07:00
parent 19ed1c952a
commit 5d26efd988
3 changed files with 7 additions and 16 deletions
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3
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -7483,8 +7483,7 @@ bool PhysicsServerCommandProcessor::processRequestActualStateCommand(const struc
body->m_rootLocalInertialFrame.getRotation()[3];
btVector3 center_of_mass(sb->getCenterOfMass());
sb->updateTransform();
btTransform tr = sb->getWorldTransform();
btTransform tr = sb->getRigidTransform();
//base position in world space, cartesian
stateDetails->m_actualStateQ[0] = center_of_mass[0];
stateDetails->m_actualStateQ[1] = center_of_mass[1];

6
src/BulletSoftBody/btSoftBody.cpp
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@ -1033,12 +1033,6 @@ void btSoftBody::setAngularVelocity(const btVector3& angVel)
}
}
//
void btSoftBody::updateTransform()
{
setWorldTransform(getRigidTransform());
}
//
btTransform btSoftBody::getRigidTransform()
{

14
src/BulletSoftBody/btSoftBody.h
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@ -163,17 +163,17 @@ public:
RVSmask = 0x000f, ///Rigid versus soft mask
SDF_RS = 0x0001, ///SDF based rigid vs soft
CL_RS = 0x0002, ///Cluster vs convex rigid vs soft
SDF_RD = 0x0004, ///SDF based rigid vs deformable
SDF_RD = 0x0004, ///SDF based rigid vs deformable
SVSmask = 0x00f0, ///Rigid versus soft mask
VF_SS = 0x00100, ///Vertex vs face soft vs soft handling
CL_SS = 0x00200, ///Cluster vs cluster soft vs soft handling
CL_SELF = 0x0040, ///Cluster soft body self collision
VF_DD = 0x0080, ///Vertex vs face soft vs soft handling
RVDFmask = 0x0f00, /// Rigid versus deformable face mask
SDF_RDF = 0x0100, /// SDF based Rigid vs. deformable face
SDF_MDF = 0x0200, /// SDF based Multibody vs. deformable face
VF_DD = 0x0080, ///Vertex vs face soft vs soft handling
RVDFmask = 0x0f00, /// Rigid versus deformable face mask
SDF_RDF = 0x0100, /// SDF based Rigid vs. deformable face
SDF_MDF = 0x0200, /// SDF based Multibody vs. deformable face
/* presets */
Default = SDF_RS,
END
@ -967,8 +967,6 @@ public:
void setLinearVelocity(const btVector3& linVel);
/* Set the angular velocity of the center of mass */
void setAngularVelocity(const btVector3& angVel);
/* Update the world transform to the best fit rigid transform */
void updateTransform();
/* Get best fit rigid transform */
btTransform getRigidTransform();
/* Transform to given pose */