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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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17
src/BulletSoftBody/btSoftBody.h
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@@ -163,10 +163,11 @@ public:
SDF_RD = 0x0003, ///DF based rigid vs deformable
SDF_RDF = 0x0004, ///DF based rigid vs deformable faces
SVSmask = 0x0030, ///Rigid versus soft mask
SVSmask = 0x00F0, ///Rigid versus soft mask
VF_SS = 0x0010, ///Vertex vs face soft vs soft handling
CL_SS = 0x0020, ///Cluster vs cluster soft vs soft handling
CL_SELF = 0x0040, ///Cluster soft body self collision
VF_DD = 0x0050, ///Vertex vs face soft vs soft handling
/* presets */
Default = SDF_RS,
END
@@ -362,6 +363,19 @@ public:
btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v;
};
struct DeformableFaceNodeContact
{
Node* m_node; // Node
Face* m_face; // Face
btVector3 m_bary; // Barycentric weights
btVector3 m_weights; // v_contactPoint * m_weights[i] = m_face->m_node[i]->m_v;
btVector3 m_normal; // Normal
btScalar m_margin; // Margin
btScalar m_friction; // Friction
btScalar m_imf; // inverse mass of the face at contact point
btScalar m_c0; // scale of the impulse matrix;
};
/* SContact */
struct SContact
{
@@ -759,6 +773,7 @@ public:
tAnchorArray m_anchors; // Anchors
tRContactArray m_rcontacts; // Rigid contacts
btAlignedObjectArray<DeformableNodeRigidContact> m_nodeRigidContacts;
btAlignedObjectArray<DeformableFaceNodeContact> m_faceNodeContacts;
btAlignedObjectArray<DeformableFaceRigidContact> m_faceRigidContacts;
tSContactArray m_scontacts; // Soft contacts
tJointArray m_joints; // Joints