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Avoid collision detection/response between anchored (static) soft body cluster and a static/kinematic rigid body

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erwin.coumans
2009-08-31 04:35:06 +00:00
parent 2ef7c1a457
commit 2d1777c899
3 changed files with 17 additions and 4 deletions
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12
src/BulletSoftBody/btSoftBody.cpp
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@@ -2116,11 +2116,17 @@ void btSoftBody::initializeClusters()
c.m_masses.resize(c.m_nodes.size());
for(int j=0;j<c.m_nodes.size();++j)
{
c.m_masses[j] = c.m_nodes[j]->m_im>0?1/c.m_nodes[j]->m_im: BT_LARGE_FLOAT;
//c.m_masses[j] = c.m_nodes[j]->m_im>0?1/c.m_nodes[j]->m_im: 0.f;
if (c.m_nodes[j]->m_im==0)
{
c.m_containsAnchor = true;
c.m_masses[j] = BT_LARGE_FLOAT;
} else
{
c.m_masses[j] = btScalar(1.)/c.m_nodes[j]->m_im;
}
c.m_imass += c.m_masses[j];
}
c.m_imass = 1/c.m_imass;
c.m_imass = btScalar(1.)/c.m_imass;
c.m_com = btSoftBody::clusterCom(&c);
c.m_lv = btVector3(0,0,0);
c.m_av = btVector3(0,0,0);

4
src/BulletSoftBody/btSoftBody.h
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@@ -310,11 +310,13 @@ public:
btScalar m_matching;
btScalar m_maxSelfCollisionImpulse;
btScalar m_selfCollisionImpulseFactor;
bool m_containsAnchor;
bool m_collide;
int m_clusterIndex;
Cluster() : m_leaf(0),m_ndamping(0),m_ldamping(0),m_adamping(0),m_matching(0)
,m_maxSelfCollisionImpulse(100.f),
m_selfCollisionImpulseFactor(0.01f)
m_selfCollisionImpulseFactor(0.01f),
m_containsAnchor(false)
{}
};
/* Impulse */

5
src/BulletSoftBody/btSoftBodyInternals.h
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@@ -726,6 +726,11 @@ struct btSoftColliders
btSoftClusterCollisionShape cshape(cluster);
const btConvexShape* rshape=(const btConvexShape*)m_colObj->getCollisionShape();
///don't collide an anchored cluster with a static/kinematic object
if(m_colObj->isStaticOrKinematicObject() && cluster->m_containsAnchor)
return;
btGjkEpaSolver2::sResults res;
if(btGjkEpaSolver2::SignedDistance( &cshape,btTransform::getIdentity(),
rshape,m_colObj->getInterpolationWorldTransform(),