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apply patch: soft bodies should not collide with ghost objects.

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Thanks to Sergej Reich for the patch, fixes Issue 757
This commit is contained in:
erwin.coumans@gmail.com
2013-11-04 01:12:52 +00:00
parent 439ab03940
commit 0536f986a6
1 changed files with 16 additions and 14 deletions
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30
src/BulletSoftBody/btSoftBody.cpp
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@@ -3027,21 +3027,23 @@ void btSoftBody::PSolve_RContacts(btSoftBody* psb, btScalar kst, btScalar ti)
{
const RContact& c = psb->m_rcontacts[i];
const sCti& cti = c.m_cti;
btRigidBody* tmpRigid = (btRigidBody*)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 = btDot(vr, cti.m_normal);
if(dn<=SIMD_EPSILON)
if (cti.m_colObj->hasContactResponse())
{
const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
const btVector3 fv = vr - (cti.m_normal * dn);
// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
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;
if (tmpRigid)
tmpRigid->applyImpulse(impulse,c.m_c1);
btRigidBody* tmpRigid = (btRigidBody*)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 = btDot(vr, cti.m_normal);
if(dn<=SIMD_EPSILON)
{
const btScalar dp = btMin( (btDot(c.m_node->m_x, cti.m_normal) + cti.m_offset), mrg );
const btVector3 fv = vr - (cti.m_normal * dn);
// c0 is the impulse matrix, c3 is 1 - the friction coefficient or 0, c4 is the contact hardness coefficient
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;
if (tmpRigid)
tmpRigid->applyImpulse(impulse,c.m_c1);
}
}
}
}