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Code Issues Releases Wiki Activity

Fix bug due to missing swap

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This commit is contained in:
Johannes Brust 2021-10-21 17:38:13 +02:00
parent 5795bd676f
commit 61d5bdb783
1 changed files with 68 additions and 67 deletions
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135
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@ -8078,74 +8078,74 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c
btSoftBody::Node* node = contact->m_face->m_n[contactNodeIdx];
// check if node is already in the list
int idx = nodesInContact.findLinearSearch2(node);
//apply the filter, if the user provides it
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexA = psb->getUserIndex2();
int objectIndexB = -1;
const btRigidBody* bodyB = btRigidBody::upcast(contact->m_cti.m_colObj);
if (bodyB)
{
objectIndexB = bodyB->getUserIndex2();
}
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(contact->m_cti.m_colObj);
if (mblB && mblB->m_multiBody)
{
linkIndexB = mblB->m_link;
objectIndexB = mblB->m_multiBody->getUserIndex2();
}
bool swap = false;
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
{
swap = false;
}
else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
{
swap = true;
}
else
{
continue;
}
}
if (swap)
{
std::swap(objectIndexA, objectIndexB);
std::swap(linkIndexA, linkIndexB);
}
//apply the second object filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
{
continue;
}
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
continue;
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
continue;
}
if (idx < 0)
{
// add new node and contact point
nodesInContact.push_back(node);
//convert rigidbody contact
int linkIndexA = -1;
int linkIndexB = -1;
int objectIndexA = psb->getUserIndex2();
int objectIndexB = -1;
const btRigidBody* bodyB = btRigidBody::upcast(contact->m_cti.m_colObj);
if (bodyB)
{
objectIndexB = bodyB->getUserIndex2();
}
const btMultiBodyLinkCollider* mblB = btMultiBodyLinkCollider::upcast(contact->m_cti.m_colObj);
if (mblB && mblB->m_multiBody)
{
linkIndexB = mblB->m_link;
objectIndexB = mblB->m_multiBody->getUserIndex2();
}
//apply the filter, if the user provides it
bool swap = false;
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexA)
{
swap = false;
}
else if (clientCmd.m_requestContactPointArguments.m_objectAIndexFilter == objectIndexB)
{
swap = true;
}
else
{
continue;
}
}
if (swap)
{
std::swap(objectIndexA, objectIndexB);
std::swap(linkIndexA, linkIndexB);
}
//apply the second object filter, if the user provides it
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter >= 0)
{
if (clientCmd.m_requestContactPointArguments.m_objectBIndexFilter != objectIndexB)
{
continue;
}
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_A_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexAIndexFilter != linkIndexA)
{
continue;
}
if (
(clientCmd.m_updateFlags & CMD_REQUEST_CONTACT_POINT_HAS_LINK_INDEX_B_FILTER) &&
clientCmd.m_requestContactPointArguments.m_linkIndexBIndexFilter != linkIndexB)
{
continue;
}
b3ContactPointData pt;
pt.m_bodyUniqueIdA = objectIndexA;
pt.m_bodyUniqueIdB = objectIndexB;
@ -8188,12 +8188,13 @@ bool PhysicsServerCommandProcessor::processRequestDeformableContactpointHelper(c
btVector3 normalForce = btVector3(btScalar(pt->m_contactNormalOnBInWS[0]),
btScalar(pt->m_contactNormalOnBInWS[1]),
btScalar(pt->m_contactNormalOnBInWS[2])) * pt->m_normalForce;
// add normal force of additional node contact
normalForce += contact->m_cti.m_normal * (impulseNormal / m_data->m_physicsDeltaTime).norm();
// add normal force of additional node contact
btScalar swapFactor = swap ? -1.0 : 1.0;
normalForce += swapFactor * contact->m_cti.m_normal * (impulseNormal / m_data->m_physicsDeltaTime).norm();
// get magnitude of normal force
pt->m_normalForce = normalForce.norm();
// get direction of normal force
if (!normalForce.fuzzyZero())
if (!normalForce.fuzzyZero())
{
// normalize for unit vectors if above numerical threshold
normalForce.normalize();