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Code Issues Releases Wiki Activity

fix more places in btSoftBody that assume btRigidBody (it wasn't designed to support btCollisionObject/btGhostObject).

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Add another 'findActiveObject'
This commit is contained in:
erwin.coumans 2008-11-10 21:33:11 +00:00
parent 3c0ca0d931
commit 85341fee2a
4 changed files with 33 additions and 21 deletions
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2
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
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@ -344,6 +344,8 @@ int btDiscreteDynamicsWorld::stepSimulation( btScalar timeStep,int maxSubSteps,
if (numSimulationSubSteps)
{
findActiveObjects();
saveKinematicState(fixedTimeStep);
applyGravity();

27
src/BulletSoftBody/btSoftBody.cpp
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@ -1728,21 +1728,22 @@ btVector3 btSoftBody::evaluateCom() const
}
//
bool btSoftBody::checkContact( btRigidBody* prb,
bool btSoftBody::checkContact( btCollisionObject* colObj,
const btVector3& x,
btScalar margin,
btSoftBody::sCti& cti) const
{
btVector3 nrm;
btCollisionShape* shp=prb->getCollisionShape();
const btTransform& wtr=prb->getInterpolationWorldTransform();
btCollisionShape* shp=colObj->getCollisionShape();
btRigidBody* tmpRigid = btRigidBody::upcast(colObj);
const btTransform& wtr=tmpRigid? tmpRigid->getInterpolationWorldTransform() : colObj->getWorldTransform();
btScalar dst=m_worldInfo->m_sparsesdf.Evaluate( wtr.invXform(x),
shp,
nrm,
margin);
if(dst<0)
{
cti.m_body = prb;
cti.m_colObj = colObj;
cti.m_normal = wtr.getBasis()*nrm;
cti.m_offset = -dot( cti.m_normal,
x-cti.m_normal*dst);
@ -2466,7 +2467,9 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
{
const RContact& c=psb->m_rcontacts[i];
const sCti& cti=c.m_cti;
const btVector3 va=cti.m_body->getVelocityInLocalPoint(c.m_c1)*dt;
btRigidBody* tmpRigid = btRigidBody::upcast(cti.m_colObj);
const btVector3 va=tmpRigid ? tmpRigid->getVelocityInLocalPoint(c.m_c1)*dt : btVector3(0,0,0);
const btVector3 vb=c.m_node->m_x-c.m_node->m_q;
const btVector3 vr=vb-va;
const btScalar dn=dot(vr,cti.m_normal);
@ -2476,7 +2479,8 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb,btScalar kst,btScalar ti)
const btVector3 fv=vr-cti.m_normal*dn;
const btVector3 impulse=c.m_c0*((vr-fv*c.m_c3+cti.m_normal*(dp*c.m_c4))*kst);
c.m_node->m_x-=impulse*c.m_c2;
c.m_cti.m_body->applyImpulse(impulse,c.m_c1);
if (tmpRigid)
tmpRigid->applyImpulse(impulse,c.m_c1);
}
}
}
@ -2577,9 +2581,10 @@ void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
case fCollision::SDF_RS:
{
btSoftColliders::CollideSDF_RS docollide;
btRigidBody* prb=btRigidBody::upcast(pco);
const btTransform wtr=prb->getInterpolationWorldTransform();
const btTransform ctr=prb->getWorldTransform();
btRigidBody* prb1=btRigidBody::upcast(pco);
btTransform wtr=prb1 ? prb1->getInterpolationWorldTransform() : pco->getWorldTransform();
const btTransform ctr=pco->getWorldTransform();
const btScalar timemargin=(wtr.getOrigin()-ctr.getOrigin()).length();
const btScalar basemargin=getCollisionShape()->getMargin();
btVector3 mins;
@ -2591,7 +2596,9 @@ void btSoftBody::defaultCollisionHandler(btCollisionObject* pco)
volume=btDbvtVolume::FromMM(mins,maxs);
volume.Expand(btVector3(basemargin,basemargin,basemargin));
docollide.psb = this;
docollide.prb = prb;
docollide.m_colObj1 = pco;
docollide.m_rigidBody = prb1;
docollide.dynmargin = basemargin+timemargin;
docollide.stamargin = basemargin;
m_ndbvt.collideTV(m_ndbvt.m_root,volume,docollide);

4
src/BulletSoftBody/btSoftBody.h
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@ -153,7 +153,7 @@ public:
/* sCti is Softbody contact info */
struct sCti
{
btRigidBody* m_body; /* Rigid body */
btCollisionObject* m_colObj; /* Rigid body */
btVector3 m_normal; /* Outward normal */
btScalar m_offset; /* Offset from origin */
};
@ -813,7 +813,7 @@ public:
btScalar& mint,eFeature::_& feature,int& index,bool bcountonly) const;
void initializeFaceTree();
btVector3 evaluateCom() const;
bool checkContact(btRigidBody* prb,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
bool checkContact(btCollisionObject* colObj,const btVector3& x,btScalar margin,btSoftBody::sCti& cti) const;
void updateNormals();
void updateBounds();
void updatePose();

21
src/BulletSoftBody/btSoftBodyInternals.h
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@ -808,35 +808,38 @@ struct btSoftColliders
const btScalar m=n.m_im>0?dynmargin:stamargin;
btSoftBody::RContact c;
if( (!n.m_battach)&&
psb->checkContact(prb,n.m_x,m,c.m_cti))
psb->checkContact(m_colObj1,n.m_x,m,c.m_cti))
{
const btScalar ima=n.m_im;
const btScalar imb=prb->getInvMass();
const btScalar imb= m_rigidBody? m_rigidBody->getInvMass() : 0.f;
const btScalar ms=ima+imb;
if(ms>0)
{
const btTransform& wtr=prb->getInterpolationWorldTransform();
const btMatrix3x3& iwi=prb->getInvInertiaTensorWorld();
const btTransform& wtr=m_rigidBody?m_rigidBody->getInterpolationWorldTransform() : m_colObj1->getWorldTransform();
static const btMatrix3x3 iwiStatic(0,0,0,0,0,0,0,0,0);
const btMatrix3x3& iwi=m_rigidBody?m_rigidBody->getInvInertiaTensorWorld() : iwiStatic;
const btVector3 ra=n.m_x-wtr.getOrigin();
const btVector3 va=prb->getVelocityInLocalPoint(ra)*psb->m_sst.sdt;
const btVector3 va=m_rigidBody ? m_rigidBody->getVelocityInLocalPoint(ra)*psb->m_sst.sdt : btVector3(0,0,0);
const btVector3 vb=n.m_x-n.m_q;
const btVector3 vr=vb-va;
const btScalar dn=dot(vr,c.m_cti.m_normal);
const btVector3 fv=vr-c.m_cti.m_normal*dn;
const btScalar fc=psb->m_cfg.kDF*prb->getFriction();
const btScalar fc=psb->m_cfg.kDF*m_colObj1->getFriction();
c.m_node = &n;
c.m_c0 = ImpulseMatrix(psb->m_sst.sdt,ima,imb,iwi,ra);
c.m_c1 = ra;
c.m_c2 = ima*psb->m_sst.sdt;
c.m_c3 = fv.length2()<(btFabs(dn)*fc)?0:1-fc;
c.m_c4 = prb->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
c.m_c4 = m_colObj1->isStaticOrKinematicObject()?psb->m_cfg.kKHR:psb->m_cfg.kCHR;
psb->m_rcontacts.push_back(c);
prb->activate();
if (m_rigidBody)
m_rigidBody->activate();
}
}
}
btSoftBody* psb;
btRigidBody* prb;
btCollisionObject* m_colObj1;
btRigidBody* m_rigidBody;
btScalar dynmargin;
btScalar stamargin;
};