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add support for deformable vs. deformable contact

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This commit is contained in:
Xuchen Han
2019-09-16 16:03:36 -07:00
parent 403eb62dfa
commit 1bfb226be8
12 changed files with 426 additions and 76 deletions
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28
src/BulletSoftBody/btSoftBody.cpp
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@@ -89,6 +89,7 @@ void btSoftBody::initDefaults()
m_cfg.diterations = 0;
m_cfg.citerations = 4;
m_cfg.collisions = fCollision::Default;
m_cfg.collisions |= fCollision::VF_DD;
m_pose.m_bvolume = false;
m_pose.m_bframe = false;
m_pose.m_volume = 0;
@@ -1861,8 +1862,7 @@ void btSoftBody::predictMotion(btScalar dt)
}
}
/* Clear contacts */
m_nodeRigidContacts.resize(0);
m_faceRigidContacts.resize(0);
m_rcontacts.resize(0);
m_scontacts.resize(0);
/* Optimize dbvt's */
m_ndbvt.optimizeIncremental(1);
@@ -3484,6 +3484,30 @@ void btSoftBody::defaultCollisionHandler(btSoftBody* psb)
}
}
break;
case fCollision::VF_DD:
{
// self-collision not supported yet
if (this != psb)
{
btSoftColliders::CollideVF_DD docollide;
/* common */
docollide.mrg = getCollisionShape()->getMargin() +
psb->getCollisionShape()->getMargin();
/* psb0 nodes vs psb1 faces */
docollide.psb[0] = this;
docollide.psb[1] = psb;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
/* psb1 nodes vs psb0 faces */
docollide.psb[0] = psb;
docollide.psb[1] = this;
docollide.psb[0]->m_ndbvt.collideTT(docollide.psb[0]->m_ndbvt.m_root,
docollide.psb[1]->m_fdbvt.m_root,
docollide);
}
}
break;
default:
{
}